Merge pull request #365 from ROBOTIS-GIT/ros2-devel

Ros2 devel
ROBOTIS-GIT · Oct 6, 2022 · 140ddf6 · 140ddf6
2 parents a5568c2 + 210aa94
commit 140ddf6
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diff --git a/.github/workflows/dynamixel_workbench.repos b/.github/workflows/dynamixel_workbench.repos
@@ -0,0 +1,5 @@
+repositories:
+  dynamixel_workbench/dynamixel_workbench_msgs:
+    type: git
+    url: https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
+    version: ros2
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
@@ -1,4 +1,4 @@
-name: ros2-ci
+name: ros2
 
 # Controls when the action will run. Triggers the workflow on push or pull request
 on:
@@ -15,17 +15,25 @@ jobs:
       fail-fast: false
       matrix:
         ros_distribution:
-          # - foxy
-          # - galactic
+          - foxy
+          - galactic
+          - humble
           - rolling
         include:
-          # - docker_image: ubuntu:focal
-          #   ros_distribution: foxy
-          #   ros_version: 2
-          # - docker_image: ubuntu:focal
-          #   ros_distribution: galactic
-          #   ros_version: 2
-          - docker_image: ubuntu:focal
+            # Foxy Fitzroy (June 2020 - May 2023)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
+            ros_distribution: foxy
+            ros_version: 2
+            # Galactic Geochelone (May 2021)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
+            ros_distribution: galactic
+            ros_version: 2
+            # Humble Hawksbill (May 2027)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+            ros_distribution: humble
+            ros_version: 2
+            # Rolling
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
             ros_distribution: rolling
             ros_version: 2
     container:
@@ -37,13 +45,9 @@ jobs:
         uses: actions/checkout@v2
         with:
           path: ros_ws/src
-      - name: Setup ROS2 environment
-        uses: ros-tooling/[email protected]
-        with:
-          required-ros-distributions: ${{ matrix.ros_distribution }}
       - name: Build and Test
-        uses: ros-tooling/action-ros-ci@v0.2
+        uses: ros-tooling/action-ros-ci@0.2.6
         with:
           package-name: dynamixel_workbench
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: ""
+          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/dynamixel-workbench/ros2-devel/.github/workflows/dynamixel_workbench.repos"
diff --git a/README.md b/README.md
@@ -1,8 +1,10 @@
 [![kinetic-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/kinetic-devel)
 [![melodic-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/melodic-devel)
 [![noetic-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/noetic-devel)
+
 [![foxy-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/foxy-devel)
 [![galactic-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/galactic-devel)
+[![humble-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/humble-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/humble-devel)
 [![ROS2 Rolling Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/ros2-ci/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/ros2)
 
 # DYNAMIXEL Workbench

diff --git a/dynamixel_workbench/CHANGELOG.rst b/dynamixel_workbench/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package dynamixel_workbench
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.3 (2022-10-06)
+------------------
+* ROS2 release (Foxy, Galactic, Humble)
+* fix variable length warning (#364)
+* Contributoers: Kenji Brameld, Will Son
+
 2.2.2 (2022-01-25)
 ------------------
 * ROS2 package update only

diff --git a/dynamixel_workbench/package.xml b/dynamixel_workbench/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_workbench</name>
-  <version>2.2.2</version>
+  <version>2.2.3</version>
   <description>
     Dynamixel-Workbench is dynamixel solution for ROS.
     This metapackage allows you to easily change the ID, baudrate and operating mode of the Dynamixel.
@@ -12,12 +12,11 @@
   <maintainer email="[email protected]">Will Son</maintainer>
   <license>Apache 2.0</license>
   <url type="website">http://wiki.ros.org/dynamixel_workbench</url>
-  <url type="emanual">http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/dynamixel-workbench</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues</url>
   <author email="[email protected]">Darby Lim</author>
-  <author email="[email protected]">Ryan Shim</author>
   <author email="[email protected]">Will Son</author>
+  <author>Ryan Shim</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>dynamixel_workbench_toolbox</exec_depend>
   <export>

diff --git a/dynamixel_workbench_toolbox/CHANGELOG.rst b/dynamixel_workbench_toolbox/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package dynamixel_workbench_toolbox
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.3 (2022-10-06)
+------------------
+* ROS2 release (Foxy, Galactic, Humble)
+* fix variable length warning (#364)
+* Contributoers: Kenji Brameld, Will Son
+
 2.2.2 (2022-01-25)
 ------------------
 * ROS2 package update only

diff --git a/dynamixel_workbench_toolbox/CMakeLists.txt b/dynamixel_workbench_toolbox/CMakeLists.txt
@@ -9,7 +9,13 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+if(MSVC)
+  add_compile_definitions(
+    _USE_MATH_DEFINES
+  )
 endif()
 
 ################################################################################

diff --git a/dynamixel_workbench_toolbox/library.properties b/dynamixel_workbench_toolbox/library.properties
@@ -1,7 +1,7 @@
 name=DynamixelWorkbench
-version=0.1.0
+version=2.2.3
 author=Darby Lim ([email protected])
-maintainer=Pyo (pyo@robotis.com)
+maintainer=Will Son (willson@robotis.com)
 sentence=DynamixelWorkbench using DynamixelSDK
 paragraph=Tools for Dynamixel
 category=Other

diff --git a/dynamixel_workbench_toolbox/package.xml b/dynamixel_workbench_toolbox/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_workbench_toolbox</name>
-  <version>2.2.2</version>
+  <version>2.2.3</version>
   <description>
     This package is composed of 'dynamixel_item', 'dynamixel_tool', 'dynamixel_driver' and 'dynamixel_workbench' class.
     The 'dynamixel_item' is saved as control table item and information of DYNAMIXEL.

diff --git a/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp b/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp
@@ -16,6 +16,7 @@
 
 /* Authors: Taehun Lim (Darby) */
 
+#include <memory>
 #include "../../include/dynamixel_workbench_toolbox/dynamixel_driver.h"
 
 DynamixelDriver::DynamixelDriver() : tools_cnt_(0), 
@@ -773,13 +774,13 @@ bool DynamixelDriver::readRegister(uint8_t id, uint16_t address, uint16_t length
 {
   ErrorFromSDK sdk_error = {0, false, false, 0};
 
-  uint8_t data_read[length];
+  std::vector<uint8_t> data_read(length);
 
   sdk_error.dxl_comm_result = packetHandler_->readTxRx(portHandler_, 
                                                       id, 
                                                       address,
                                                       length, 
-                                                      (uint8_t *)&data_read, 
+                                                      data_read.data(), 
                                                       &sdk_error.dxl_error);
   if (sdk_error.dxl_comm_result != COMM_SUCCESS)
   {
@@ -1009,7 +1010,7 @@ bool DynamixelDriver::syncWrite(uint8_t index, uint8_t *id, uint8_t id_num, int3
   ErrorFromSDK sdk_error = {0, false, false, 0};
 
   uint8_t parameter[4] = {0, 0, 0, 0};
-  uint8_t multi_parameter[4*data_num_for_each_id];
+  std::vector<uint8_t> multi_parameter(4*data_num_for_each_id);
   uint8_t cnt = 0;
 
   for (int i = 0; i < id_num; i++)
@@ -1023,7 +1024,7 @@ bool DynamixelDriver::syncWrite(uint8_t index, uint8_t *id, uint8_t id_num, int3
       }
     }
 
-    sdk_error.dxl_addparam_result = syncWriteHandler_[index].groupSyncWrite->addParam(id[i], (uint8_t *)&multi_parameter);
+    sdk_error.dxl_addparam_result = syncWriteHandler_[index].groupSyncWrite->addParam(id[i], multi_parameter.data());
     if (sdk_error.dxl_addparam_result != true)
     {
       if (log != NULL) *log = "groupSyncWrite addparam failed";