New pkg for IMU example, include rmw_zenoh for Dockerfile

.github/workflows/ros-ci.yml

@@ -57,9 +57,9 @@ jobs:
           echo "--- Updating rosdep definitions ---"
           rosdep update
           echo "--- Installing system dependencies for ROS 2 ${{ matrix.ros_distribution }} ---"
-          rosdep install --from-paths ros_ws/src --ignore-src -y -r --rosdistro ${{ matrix.ros_distribution }}
+          rosdep install --from-paths ros_ws/src --ignore-src -y -r --rosdistro ${{ matrix.ros_distribution }} --skip-keys dynamixel_hardware_interface
           echo "--- Performing rosdep check for ROS 2 ${{ matrix.ros_distribution }} ---"
-          if rosdep check --from-paths ros_ws/src --ignore-src --rosdistro ${{ matrix.ros_distribution }}; then
+          if rosdep check --from-paths ros_ws/src --ignore-src --rosdistro ${{ matrix.ros_distribution }} --skip-keys dynamixel_hardware_interface; then
             echo "--- rosdep check passed ---"
           else
             echo "--- rosdep check failed: Missing system dependencies or unresolvable keys. ---"
@@ -71,8 +71,9 @@ jobs:
 
         with:
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: ""
+          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/dynamixel_hardware_interface_demos/${{ github.event_name == 'pull_request' && github.head_ref || github.ref_name }}/dynamixel_hardware_interface_demos_ci.repos"
           package-name: |
             dynamixel_hardware_interface_demos
             dynamixel_hardware_interface_example
             dynamixel_hardware_interface_example_1
+            dynamixel_hardware_interface_example_2

README.md

@@ -1,6 +1,6 @@
 # dynamixel_hardware_interface_demos
 
-This repository collects example packages and resources for working with Dynamixel hardware using the ros2_control framework. 
+This repository collects example packages and resources for working with Dynamixel hardware using the ros2_control framework.
 
 ## Overview
 This repository is intended to help users get started with Dynamixel hardware integration in ROS 2. It provides example configurations, launch files, and scripts to demonstrate how to use the `dynamixel_hardware_interface` with ros2_control and controller_manager.
@@ -11,6 +11,8 @@ This repository is intended to help users get started with Dynamixel hardware in
   - Example package with configuration files, launch files, and scripts for setting up and running a Dynamixel-based robot system using ros2_control.
 - [dynamixel_hardware_interface_example_1](dynamixel_hardware_interface_example_1/README.md)
   - Example package demonstrating a dual Dynamixel system (two buses) with separate ros2_control configurations and a dedicated launch file for running both systems together.
+- [dynamixel_hardware_interface_example_2](dynamixel_hardware_interface_example_2/README.md)
+  - Example package demonstrating a system with an Dynamixel Protocol compatible IMU sensor using the dynamixel_hardware_interface.
 
 ## Getting Started
 

docker/Dockerfile

@@ -11,7 +11,8 @@ RUN mkdir -p ${COLCON_WS}/src && \
     git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git && \
     git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git && \
     git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
-    git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface_demos.git
+    git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface_demos.git && \
+    git clone -b jazzy https://github.com/ros2/rmw_zenoh.git
 
 RUN cd ${COLCON_WS} && \
     apt-get update && \

docker/docker-compose.yml

@@ -14,11 +14,15 @@ services:
       rttime: -1
       memlock: 8428281856
     network_mode: host
+    ipc: host
+    pid: host
     environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
+     # - RMW_IMPLEMENTATION=rmw_zenoh_cpp
     volumes:
       - /dev:/dev
+      - /dev/shm:/dev/shm
       - ./workspace:/workspace
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - /tmp/.docker.xauth:/tmp/.docker.xauth:rw

dynamixel_hardware_interface_demos/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package dynamixel_hardware_interface_demos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.0.4 (2025-12-15)
+------------------
+* Introduced dynamixel_hardware_interface_example_2 package for using the dynamixel_hardware_interface with imu sensor
+* Contributors: Woojin Wie
+
 0.0.3 (2025-09-12)
 ------------------
 * Updated package.xml to include dynamixel_hardware_interface_example_1

dynamixel_hardware_interface_demos/package.xml

@@ -15,6 +15,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>dynamixel_hardware_interface_example</exec_depend>
   <exec_depend>dynamixel_hardware_interface_example_1</exec_depend>
+  <exec_depend>dynamixel_hardware_interface_example_2</exec_depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>

dynamixel_hardware_interface_demos_ci.repos

@@ -0,0 +1,5 @@
+repositories:
+  utils/dynamixel_hardware_interface:
+    type: git
+    url: https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git
+    version: main

dynamixel_hardware_interface_example/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package dynamixel_hardware_interface_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.0.4 (2025-12-15)
+------------------
+* None
+
 0.0.3 (2025-09-12)
 ------------------
 * Introduced xacro arguments for port_name and baud_rate

dynamixel_hardware_interface_example/README.md

@@ -35,11 +35,11 @@ You can generate custom XACRO files for your robot using the provided script and
 ```bash
 ros2 launch dynamixel_hardware_interface_example generate_xacros.launch.py \
   num_joints:=4 \
-  baudrate:=4000000 \
+  baud_rate:=4000000 \
   port_name:=/dev/ttyUSB0
 ```
 - `num_joints`: Number of joints/motors in your robot
-- `baudrate`: Baudrate for the Dynamixel port
+- `baud_rate`: Baudrate for the Dynamixel port
 - `port_name`: Serial port for the Dynamixel device
 
 This will generate new XACRO files in the `config/` directory.
@@ -48,7 +48,9 @@ This will generate new XACRO files in the `config/` directory.
 After generating the XACRO files, launch the hardware interface and controller manager:
 
 ```bash
-ros2 launch dynamixel_hardware_interface_example hardware.launch.py
+ros2 launch dynamixel_hardware_interface_example hardware.launch.py \
+  baud_rate:=4000000 \
+  port_name:=/dev/ttyUSB0
 ```
 
 ## Configuration Files

dynamixel_hardware_interface_example/dynamixel_hardware_interface_example/generate_xacros.py

@@ -22,7 +22,7 @@
 
 
 # Generate the .ros2_control.xacro file
-def generate_ros2_control_xacro(num_joints, filename, baudrate, port_name, command_interface):
+def generate_ros2_control_xacro(num_joints, filename, baud_rate, port_name, command_interface):
     # Determine the appropriate interface names based on command_interface
     if command_interface == 'position':
         joint_command_interface = 'position'
@@ -101,13 +101,13 @@ def generate_ros2_control_xacro(num_joints, filename, baudrate, port_name, comma
 
 
 # Generate the .urdf.xacro file
-def generate_urdf_xacro(num_joints, filename, baudrate, port_name):
+def generate_urdf_xacro(num_joints, filename, baud_rate, port_name):
     with open(filename, 'w') as f:
         f.write('<?xml version="1.0"?>\n')
         f.write('<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="dynamixel_system">\n')
         f.write('  <xacro:arg name="prefix" default="" />\n')
         # Provide xacro args for baud_rate and port_name with defaults from CLI
-        f.write(f'  <xacro:arg name="baud_rate" default="{baudrate}" />\n')
+        f.write(f'  <xacro:arg name="baud_rate" default="{baud_rate}" />\n')
         f.write(f'  <xacro:arg name="port_name" default="{port_name}" />\n')
         f.write('  <xacro:include filename="dynamixel_system.ros2_control.xacro" />\n')
         f.write('\n')
@@ -134,33 +134,33 @@ def generate_urdf_xacro(num_joints, filename, baudrate, port_name):
 def main():
     if len(sys.argv) < 2:
         print('Usage: python generate_dynamixel_xacros.py <number_of_joints> '
-              '[output_dir] [baudrate] [port_name] [command_interface]')
+              '[output_dir] [baud_rate] [port_name] [command_interface]')
         sys.exit(1)
     try:
         num_joints = int(sys.argv[1])
     except ValueError:
         print('First argument must be an integer (number of joints)')
         sys.exit(1)
     config_dir = os.path.join(os.path.dirname(__file__), 'config')
-    baudrate = '4000000'
+    baud_rate = '4000000'
     port_name = '/dev/ttyUSB0'
     command_interface = 'position'  # Default value
     if len(sys.argv) >= 3:
         config_dir = sys.argv[2]
     if len(sys.argv) >= 4:
-        baudrate = sys.argv[3]
+        baud_rate = sys.argv[3]
     if len(sys.argv) >= 5:
         port_name = sys.argv[4]
     if len(sys.argv) >= 6:
         command_interface = sys.argv[5]
     os.makedirs(config_dir, exist_ok=True)
     ros2_control_path = os.path.join(config_dir, 'dynamixel_system.ros2_control.xacro')
     urdf_xacro_path = os.path.join(config_dir, 'dynamixel_system.urdf.xacro')
-    generate_ros2_control_xacro(num_joints, ros2_control_path, baudrate,
+    generate_ros2_control_xacro(num_joints, ros2_control_path, baud_rate,
                                 port_name, command_interface)
-    generate_urdf_xacro(num_joints, urdf_xacro_path, baudrate, port_name)
+    generate_urdf_xacro(num_joints, urdf_xacro_path, baud_rate, port_name)
     print(f'Generated xacro files for {num_joints} joints in {config_dir}. '
-          f'Baudrate: {baudrate}, Port: {port_name}, Command Interface: {command_interface}')
+          f'baud_rate: {baud_rate}, Port: {port_name}, Command Interface: {command_interface}')
 
 
 if __name__ == '__main__':

dynamixel_hardware_interface_example/launch/generate_xacros.launch.py

@@ -42,7 +42,7 @@ def generate_launch_description():
             description='Directory to save generated xacro files.'
         ),
         DeclareLaunchArgument(
-            'baudrate',
+            'baud_rate',
             default_value='4000000',
             description='Baudrate for the Dynamixel port.'
         ),
@@ -60,7 +60,7 @@ def generate_launch_description():
 
     num_joints = LaunchConfiguration('num_joints')
     output_dir = LaunchConfiguration('output_dir')
-    baudrate = LaunchConfiguration('baudrate')
+    baud_rate = LaunchConfiguration('baud_rate')
     port_name = LaunchConfiguration('port_name')
     command_interface = LaunchConfiguration('command_interface')
 
@@ -69,7 +69,7 @@ def generate_launch_description():
         executable='generate_xacros',
         name='generate_xacros',
         output='screen',
-        arguments=[num_joints, output_dir, baudrate, port_name, command_interface],
+        arguments=[num_joints, output_dir, baud_rate, port_name, command_interface],
     )
 
     return LaunchDescription(declared_arguments + [generate_xacros_node])

dynamixel_hardware_interface_example/setup.py

@@ -8,7 +8,7 @@
 
 setup(
     name=package_name,
-    version='0.0.3',
+    version='0.0.4',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),

dynamixel_hardware_interface_example_1/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package dynamixel_hardware_interface_example_1
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.0.4 (2025-12-15)
+------------------
+* None
+
 0.0.3 (2025-09-12)
 ------------------
 * Introduced dynamixel_hardware_interface_example_1 package for dual ros2_control

dynamixel_hardware_interface_example_1/setup.py

@@ -8,7 +8,7 @@
 
 setup(
     name=package_name,
-    version='0.0.3',
+    version='0.0.4',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),

dynamixel_hardware_interface_example_2/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package dynamixel_hardware_interface_example_2
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.4 (2025-12-15)
+------------------
+* Added example package for using the dynamixel_hardware_interface with imu sensor
+* Contributors: Woojin Wie

dynamixel_hardware_interface_example_2/README.md

@@ -0,0 +1,19 @@
+# Dynamixel Hardware Interface Example 2 (IMU ros2_control)
+
+This example shows a single `ros2_control` system that uses `dynamixel_hardware_interface` to read an IMU (ID 1) and publish its data through an `imu_sensor_broadcaster`. The robot description is built from `config/dynamixel_system.urdf.xacro`, which wraps the ros2_control configuration defined in `config/dynamixel_system.ros2_control.xacro`.
+
+## Usage
+
+Build and source your workspace, then launch:
+
+```bash
+ros2 launch dynamixel_hardware_interface_example_2 hardware.launch.py \
+  port_name:=/dev/ttyUSB0 \
+  baud_rate:=4000000
+```
+
+### Launch arguments
+- `port_name` (default `/dev/ttyUSB0`): Serial port connected to the Dynamixel IMU.
+- `baud_rate` (default `4000000`): Baud rate for the port.
+- `description_file` (default `dynamixel_system.urdf.xacro`): Xacro to generate the robot description.
+- `prefix` (default empty): Optional prefix for joint/frame names.

dynamixel_hardware_interface_example_2/config/dynamixel_system.ros2_control.xacro

@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="dynamixel_system_ros2_control" params="name port_name baud_rate">
+    <ros2_control name="${name}" type="system">
+      <hardware>
+        <plugin>dynamixel_hardware_interface/DynamixelHardware</plugin>
+        <param name="port_name">${port_name}</param>
+        <param name="baud_rate">${baud_rate}</param>
+        <param name="dynamixel_model_folder">/param/dxl_model</param>
+        <param name="number_of_joints">0</param>
+        <param name="number_of_transmissions">0</param>
+        <param name="disable_torque_at_init">true</param>
+        <param name="error_timeout_ms">1000</param>
+        <param name="dynamixel_state_pub_msg_name">dynamixel_hardware_interface/dxl_state</param>
+        <param name="get_dynamixel_data_srv_name">dynamixel_hardware_interface/get_dxl_data</param>
+        <param name="set_dynamixel_data_srv_name">dynamixel_hardware_interface/set_dxl_data</param>
+        <param name="reboot_dxl_srv_name">dynamixel_hardware_interface/reboot_dxl</param>
+        <param name="set_dxl_torque_srv_name">dynamixel_hardware_interface/set_dxl_torque</param>
+      </hardware>
+
+      <sensor name="imu">
+        <state_interface name="linear_acceleration.x"/>
+        <state_interface name="linear_acceleration.y"/>
+        <state_interface name="linear_acceleration.z"/>
+        <state_interface name="angular_velocity.x"/>
+        <state_interface name="angular_velocity.y"/>
+        <state_interface name="angular_velocity.z"/>
+        <state_interface name="orientation.w"/>
+        <state_interface name="orientation.x"/>
+        <state_interface name="orientation.y"/>
+        <state_interface name="orientation.z"/>
+      </sensor>
+
+      <gpio name="imu">
+        <param name="type">sensor</param>
+        <param name="ID">1</param>
+        <state_interface name="linear_acceleration.x"/>
+        <state_interface name="linear_acceleration.y"/>
+        <state_interface name="linear_acceleration.z"/>
+        <state_interface name="angular_velocity.x"/>
+        <state_interface name="angular_velocity.y"/>
+        <state_interface name="angular_velocity.z"/>
+        <state_interface name="orientation.w"/>
+        <state_interface name="orientation.x"/>
+        <state_interface name="orientation.y"/>
+        <state_interface name="orientation.z"/>
+        <param name="Return Delay Time">0</param>
+      </gpio>
+    </ros2_control>
+  </xacro:macro>
+</robot>

dynamixel_hardware_interface_example_2/config/dynamixel_system.urdf.xacro

@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="dynamixel_system">
+  <xacro:arg name="prefix" default="" />
+  <xacro:arg name="baud_rate" default="4000000" />
+  <xacro:arg name="port_name" default="/dev/ttyUSB0" />
+  <xacro:include filename="dynamixel_system.ros2_control.xacro" />
+
+  <xacro:dynamixel_system_ros2_control name="dynamixel_system" port_name="$(arg port_name)" baud_rate="$(arg baud_rate)"/>
+
+  <link name="$(arg prefix)base_link"/>
+
+</robot>

dynamixel_hardware_interface_example_2/config/ros2_controllers.yaml

@@ -0,0 +1,16 @@
+/**:
+  controller_manager:
+    ros__parameters:
+      update_rate: 500  # Hz
+
+      joint_state_broadcaster:
+        type: joint_state_broadcaster/JointStateBroadcaster
+
+      imu_sensor_broadcaster:
+        type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
+/**:
+  imu_sensor_broadcaster:
+    ros__parameters:
+      sensor_name: "imu"
+      frame_id: imu_link