Support ExtendedPostiion and Current control; Implement on_configure

.github/dependabot.yml

@@ -0,0 +1,11 @@
+# Set update schedule for GitHub Actions
+# (https://docs.github.com/en/code-security/dependabot/working-with-dependabot/keeping-your-actions-up-to-date-with-dependabot)
+
+version: 2
+updates:
+
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      # Check for updates to GitHub Actions every week
+      interval: "weekly"

.github/workflows/build_and_test_foxy.yaml

@@ -23,10 +23,10 @@ jobs:
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
-      - uses: ros-tooling/setup-ros@v0.3
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           # The testing repository will be used
           use-ros2-testing: true
-      - uses: ros-tooling/action-ros-ci@v0.2
+      - uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: foxy

.github/workflows/build_and_test_humble.yaml

@@ -22,10 +22,10 @@ jobs:
       image: ubuntu:jammy
 
     steps:
-      - uses: ros-tooling/setup-ros@v0.3
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           # The testing repository will be used
           use-ros2-testing: true
-      - uses: ros-tooling/action-ros-ci@v0.2
+      - uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: humble

.github/workflows/build_and_test_rolling.yaml

@@ -16,16 +16,16 @@ on:
 jobs:
   # This workflow contains a single job called "build"
   build:
-    # The runner will be ubuntu-latest, with a clean ubuntu jammy container
+    # The runner will be ubuntu-latest, with a clean ubuntu noble container
     runs-on: ubuntu-latest
     container:
-      image: ubuntu:jammy
+      image: ubuntu:noble
 
     steps:
-      - uses: ros-tooling/setup-ros@v0.3
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           # The testing repository will be used
           use-ros2-testing: true
-      - uses: ros-tooling/action-ros-ci@v0.2
+      - uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: rolling

dynamixel_hardware/CHANGELOG.rst

@@ -0,0 +1,29 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package dynamixel_hardware
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.6.0 (2024-04-24)
+------------------
+* Adhere to style guide (`#73 <https://github.com/dynamixel-community/dynamixel_hardware/issues/73>`_)
+* Revised control mode changes, added set_joint_params (`#65 <https://github.com/dynamixel-community/dynamixel_hardware/issues/65>`_)
+  * revised control mode changes, added set_params
+  * removed unnecessary comment
+* Missing comma for setting Position_D_Gain (`#56 <https://github.com/dynamixel-community/dynamixel_hardware/issues/56>`_)
+  * comment out unused paramter
+  * A comma is missing for setting the Position_D_Gain
+* Contributors: Geoff Sokoll, Kenji Brameld, Lass6230, Yutaka Kondo
+
+0.3.1 (2022-11-17)
+------------------
+* Merge pull request `#39 <https://github.com/youtalk/dynamixel_control/issues/39>`_ from ijnek/ijnek-unused-parameters
+* Merge pull request `#31 <https://github.com/youtalk/dynamixel_control/issues/31>`_ from ijnek/ijnek-unused-parameter-2
+* Merge pull request `#25 <https://github.com/youtalk/dynamixel_control/issues/25>`_ from ijnek/ijnek-new-hardware-interface
+* Merge pull request `#24 <https://github.com/youtalk/dynamixel_control/issues/24>`_ from ijnek/ijnek-add-callbackreturn-reference
+* Merge pull request `#20 <https://github.com/youtalk/dynamixel_control/issues/20>`_ from pdenes/add-extra-params
+* Merge pull request `#19 <https://github.com/youtalk/dynamixel_control/issues/19>`_ from pdenes/add-dependencies
+* Merge pull request `#17 <https://github.com/youtalk/dynamixel_control/issues/17>`_ from youtalk/galactic
+* Merge pull request `#16 <https://github.com/youtalk/dynamixel_control/issues/16>`_ from Schnilz/main
+* Merge pull request `#13 <https://github.com/youtalk/dynamixel_control/issues/13>`_ from youtalk/change-loglevel
+* Merge pull request `#10 <https://github.com/youtalk/dynamixel_control/issues/10>`_ from youtalk/joint-id
+* Merge pull request `#1 <https://github.com/youtalk/dynamixel_control/issues/1>`_ from youtalk/velocity-control
+* Contributors: Kenji Brameld, Nils Schulte, Pal Denes, Yutaka Kondo

dynamixel_hardware/CMakeLists.txt

@@ -42,7 +42,7 @@ ament_target_dependencies(
   hardware_interface
   pluginlib
   dynamixel_workbench_toolbox
-  )
+)
 
 
 pluginlib_export_plugin_description_file(hardware_interface dynamixel_hardware.xml)

dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp

@@ -17,14 +17,14 @@
 
 #include <dynamixel_workbench_toolbox/dynamixel_workbench.h>
 
+#include <map>
+#include <vector>
+
 #include <hardware_interface/handle.hpp>
 #include <hardware_interface/hardware_info.hpp>
 #include <hardware_interface/system_interface.hpp>
 #include <rclcpp_lifecycle/state.hpp>
 
-#include <map>
-#include <vector>
-
 #include "dynamixel_hardware/visiblity_control.h"
 #include "rclcpp/macros.hpp"
 
@@ -47,26 +47,29 @@ struct Joint
   JointValue prev_command{};
 };
 
-enum class ControlMode {
+enum class ControlMode
+{
   Position,
   Velocity,
   Torque,
-  Currrent,
+  Current,
   ExtendedPosition,
   MultiTurn,
   CurrentBasedPosition,
   PWM,
 };
 
-class DynamixelHardware
-: public hardware_interface::SystemInterface
+class DynamixelHardware : public hardware_interface::SystemInterface
 {
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(DynamixelHardware)
 
   DYNAMIXEL_HARDWARE_PUBLIC
   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
+  DYNAMIXEL_HARDWARE_PUBLIC
+  CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
+
   DYNAMIXEL_HARDWARE_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
@@ -94,14 +97,15 @@ class DynamixelHardware
 
   CallbackReturn set_joint_positions();
   CallbackReturn set_joint_velocities();
+  CallbackReturn set_joint_currents();
   CallbackReturn set_joint_params();
 
   DynamixelWorkbench dynamixel_workbench_;
   std::map<const char * const, const ControlItem *> control_items_;
   std::vector<Joint> joints_;
   std::vector<uint8_t> joint_ids_;
   bool torque_enabled_{false};
-  ControlMode control_mode_{ControlMode::Position};
+  ControlMode control_mode_{ControlMode::ExtendedPosition};
   bool mode_changed_{false};
   bool use_dummy_{false};
 };

dynamixel_hardware/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dynamixel_hardware</name>
-  <version>0.0.0</version>
+  <version>0.6.0</version>
   <description>ros2_control hardware for ROBOTIS Dynamixel</description>
   <maintainer email="[email protected]">Yutaka Kondo</maintainer>
   <license>Apache 2.0</license>