support telemetry on temperature, input voltage, current, and load

[bueche]

This PR adds the necessary structure to pull telemetry information for Present Input Voltage, Temperature, Current, and/or load. This is in support of Issue #8 and is a companion PR to be paired up with (and merged before): ROBOTIS-GIT/dynamixel_hardware_interface#106 . See that PR for more details.

[gemini-code-assist]

Summary of Changes

Hello @bueche, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request introduces foundational changes to the DynamixelState.msg definition by incorporating new fields for critical telemetry data. These additions, including temperature, input voltage, current, and load, are essential for enabling comprehensive monitoring and diagnostics of Dynamixel motors, directly addressing the requirements of Issue #8 and preparing for further enhancements in a related pull request.

Highlights

• Telemetry Data Fields Added: New fields for temperature, voltage, present_current, and present_load have been added to the DynamixelState.msg file to support comprehensive telemetry.
• Issue DynamixelState.msg doesn't return temperature, voltage, load, or current #8 Support: These changes directly address and support the requirements outlined in Issue DynamixelState.msg doesn't return temperature, voltage, load, or current #8, enhancing diagnostic capabilities.
• Companion Pull Request: This PR is a prerequisite for ROBOTIS-GIT/dynamixel_hardware_interface/pull/106 and is intended to be merged before it.

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Changelog

• msg/DynamixelState.msg
  • Added int16[] temperature to store motor temperature readings.
  • Added int16[] voltage to store input voltage readings.
  • Added int16[] present_current to store present current draw.
  • Added int16[] present_load to store present load.

Activity

• The author bueche initiated this pull request to add telemetry support for Dynamixel motors.
• This PR is explicitly linked as a companion to https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface/pull/106 and is intended to be merged prior to it.
• The changes address requirements outlined in Issue DynamixelState.msg doesn't return temperature, voltage, load, or current #8.

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[gemini-code-assist]

Code Review

This pull request adds telemetry fields for temperature, voltage, current, and load to the DynamixelState message. The changes are straightforward, but I've suggested improvements for the data types of the temperature and voltage fields to make them more memory-efficient and semantically correct based on the typical data from Dynamixel servos.

[Copilot]

Pull request overview

This PR extends the dynamixel_interfaces ROS2 message definition so downstream packages (e.g., dynamixel_hardware_interface) can publish additional Dynamixel telemetry for temperature, input voltage, current, and load, addressing Issue #8.

Changes:

• Added telemetry arrays to DynamixelState.msg for temperature, voltage, present current, and present load.

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[bueche]

also, this PR covers ros2-humble. Once the approach has been finalized on this version I can work to support the other versions of ros2 supported for the dynamixel servos.

[bueche]

hi @robotpilot, @Geonhee-LEE , @ROBOTIS-zerom, @kaym9n ... just wanted to find out how this PR (and the related ones) progress. I have a few questions:

1. version bump: I'm proposing to make a change to the msg interface which requires a major version bump. I've put that bump in this PR. Please let me know if it should be done differently (e.g., separate PR).

2. metric completeness: Also, I would think that someone might ask: "should additional metrics be added? (since its a version bump)" ... I have no issue about adding additional ones, but am unsure if I can test all of the variations (I'm limited to the servo's that I own and may not have a good test scenario for metrics other than the ones I picked)....

3. branch completeness: I'm planning on following up with the corresponding Jazzy changes in a separate PR. Assuming this is the right approach.

4. reviewers: how are reviewers assigned?

let me know your thoughts.