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Add dynamixel_general_hw package#390

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pazeshun wants to merge 38 commits intoROBOTIS-GIT:masterROBOTIS-GIT/dynamixel-workbench:masterfrom pazeshun:dynamixel-general-hwpazeshun/dynamixel-workbench:dynamixel-general-hwCopy head branch name to clipboard

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Commits on Nov 28, 2024

• Add dynamixel_general_hw package

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• [dynamixel_general_hw] Enable to publish effort calculated from current/load

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Commits on Nov 29, 2024

• [dynamixel_general_hw] Improve E-stop interface: enable to hold actuator positions

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• [dynamixel_general_hw] Publish dynamixel state with timestamp and other present information (temperature, voltage)

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• [dynamixel_general_hw] Speedup dynamixel state reading

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• [dynamixel_general_hw] Prevent sudden motion just after recovering from emergency state

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• [dynamixel_general_hw] Add more samples & fix wrong offset tag position

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• [dynamixel_general_hw] Add documentation

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Commits on Dec 2, 2024

• [dynamixel_general_hw] mechanicalReduction must be considered in joint limits

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• [dynamixel_general_hw] Add more comments about torque_constant

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• [dynamixel_general_hw] Fix current conversion: protocol version is not related to whether we can get current or load

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• [dynamixel_general_hw] Add more comments about transmission

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• [dynamixel_general_hw] Add documentation of launch arguments

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• [dynamixel_general_hw] Describe configuration files in README

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Commits on Dec 3, 2024

• [dynamixel_general_hw] Increase information about setting robot_description

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• [dynamixel_general_hw] Speedup dynamixel state reading even on Protocol 1.0

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• [dynamixel_general_hw] present_current may include load

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Commits on Dec 4, 2024

• [dynamixel_general_hw] Add velocity control and its sample

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• [dynamixel_general_hw] Add effort control and its sample

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Commits on Dec 5, 2024

• [dynamixel_general_hw] Fix README image size for small display

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Commits on Dec 7, 2024

• [dynamixel_general_hw] Add current-based position control and its sample

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Commits on Dec 9, 2024

• [dynamixel_general_hw] Reflect joint limits

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Commits on Dec 10, 2024

• [dynamixel_general_hw] Add notes about effort control sample

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• [dynamixel_general_hw] Add missing dependencies of samples

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• [dynamixel_general_hw] Unify yaml format

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Commits on Dec 13, 2024

• [dynamixel_general_hw] Make hold_position work on velocity/effort control

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• [dynamixel_general_hw] Prevent *is_servo_* and *is_hold_pos_* from becoming random if their definition order changes

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• [dynamixel_general_hw] Enable to set minimal interval from writing Dynamixel to reading Dynamixel for avoiding reading error

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• [dynamixel_general_hw] Reset joint limit interfaces in special states to prevent runaway when going back to normal state

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• [dynamixel_general_hw] Add argument list of dynamixel_general_control.launch to README

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Commits on Dec 14, 2024

• [dynamixel_general_hw] Add more documentation on special states

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Commits on Dec 16, 2024

• [dynamixel_general_hw] Return error if target actuator is not found

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• [dynamixel_general_hw] Enable to pass Xacro args to parse robot_description_file

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• [dynamixel_general_hw] Enable to use substitution args in config files

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Commits on Dec 17, 2024

• [dynamixel_general_hw] Enable to respawn control node

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• [dynamixel_general_hw] Explain write_read_interval more clearly

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Commits on Dec 25, 2024

• [dynamixel_general_hw] Explain sample6 more clearly

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• [dynamixel_general_hw] Change initial effort limit from zero in sample6 to make actuator drivable from the beginning

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