Merge pull request #261 from ROBOTIS-GIT/develop

Release 1.4.17

README.md

@@ -5,11 +5,11 @@
 - [ROBOTIS e-Manual for OpenCR](http:https://emanual.robotis.com/docs/en/parts/controller/opencr10/)
 
 ## Open Source related to OpenCR
+- [Micro ROS Arduino](https://github.com/micro-ROS/micro_ros_arduino)
 - [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
 - [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
 - [OpenCM 9.04](https://github.com/ROBOTIS-GIT/OpenCM9.04)
 - [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
-- [dynamixel_workbench](https://github.com/ROBOTIS-GIT/dynamixel-workbench)
 - [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3)
 - [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator)
 - [robotis_op3](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3)
@@ -19,7 +19,6 @@
 - [ROBOTIS e-Manual for OpenCM 9.04](http:https://emanual.robotis.com/docs/en/parts/controller/opencm904/)
 - [ROBOTIS e-Manual for OpenCM 485 Expansion Board](http:https://emanual.robotis.com/docs/en/parts/controller/opencm485exp/)
 - [ROBOTIS e-Manual for Dynamixel SDK](http:https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
-- [ROBOTIS e-Manual for Dynamixel Workbench](http:https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
 - [ROBOTIS e-Manual for TurtleBot3](http:https://turtlebot3.robotis.com/)
 - [ROBOTIS e-Manual for OpenManipulator](http:https://emanual.robotis.com/docs/en/platform/openmanipulator/)
 - [ROBOTIS e-Manual for ROBOTIS OP3](http:https://emanual.robotis.com/docs/en/platform/op3/introduction/)

arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/include/dynamixel_workbench_toolbox/dynamixel_driver.h

@@ -31,7 +31,7 @@
 
 #define MAX_DXL_SERIES_NUM 5
 #define MAX_HANDLER_NUM 5
-#define MAX_BULK_PARAMETER 20
+#define MAX_BULK_PARAMETER 21
 
 typedef struct 
 {

arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp

@@ -1362,7 +1362,7 @@ bool DynamixelDriver::addBulkReadParam(uint8_t id, uint16_t address, uint16_t le
  }
  else
  {
- if (log != NULL) *log = "[DynamixelDriver] Too many bulk parameter are added (default buffer size is 10)";
+ if (log != NULL) *log = "[DynamixelDriver] Too many bulk parameter are added (default buffer size is 21)";
  return false;
  }
 
@@ -1400,7 +1400,7 @@ bool DynamixelDriver::addBulkReadParam(uint8_t id, const char *item_name, const
  }
  else
  {
- if (log != NULL) *log = "[DynamixelDriver] Too many bulk parameter are added (default buffer size is 10)";
+ if (log != NULL) *log = "[DynamixelDriver] Too many bulk parameter are added (default buffer size is 21)";
  return false;
  }
 

arduino/opencr_arduino/opencr/libraries/IMU/keywords.txt

@@ -0,0 +1,30 @@
+#######################################
+# Syntax Coloring Map For IMU
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+cIMU KEYWORD1
+cICM20648 KEYWORD1
+cIMUDevice KEYWORD1
+Madgwick KEYWORD1
+cMPU9250 KEYWORD1
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+gyro_init KEYWORD2
+gyro_get_adc KEYWORD2
+gyro_cali_start KEYWORD2
+gyro_common KEYWORD2
+gyro_cali_get_done KEYWORD2
+acc_init KEYWORD2
+acc_get_adc KEYWORD2
+acc_cali_start KEYWORD2
+acc_common KEYWORD2
+acc_cali_get_done KEYWORD2
+mag_init KEYWORD2
+mag_get_adc KEYWORD2
+mag_cali_start KEYWORD2
+mag_common KEYWORD2
+mag_cali_get_done KEYWORD2

arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_waffle/turtlebot3_core/turtlebot3_core_config.h

@@ -165,7 +165,11 @@ sensor_msgs::JointState joint_states;
 ros::Publisher joint_states_pub("joint_states", &joint_states);
 
 // Battey state of Turtlebot3
+#if defined NOETIC_SUPPORT
+sensor_msgs::BatteryStateNoetic battery_state_msg;
+#else
 sensor_msgs::BatteryState battery_state_msg;
+#endif
 ros::Publisher battery_state_pub("battery_state", &battery_state_msg);
 
 // Magnetic field

arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core_config.h

@@ -184,7 +184,11 @@ sensor_msgs::JointState joint_states;
 ros::Publisher joint_states_pub("joint_states", &joint_states);
 
 // Battey state of Turtlebot3
+#if defined NOETIC_SUPPORT
+sensor_msgs::BatteryStateNoetic battery_state_msg;
+#else
 sensor_msgs::BatteryState battery_state_msg;
+#endif
 ros::Publisher battery_state_pub("battery_state", &battery_state_msg);
 
 // Magnetic field

arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3_motor_driver.h

@@ -19,6 +19,7 @@
 
 #include <Dynamixel2Arduino.h>
 
+#define TORQUE_ENABLE 1
 
 enum MortorLocation{
  LEFT = 0,

arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/library.properties

@@ -6,4 +6,4 @@ sentence=library for TurtleBot3 ROS2 using DYNAMIXEL protocol
 paragraph=
 category=Data Processing
 url=https://github.com/ROBOTIS-GIT/turtlebot3
-architectures=opencr
+architectures=OpenCR

arduino/opencr_arduino/opencr/platform.txt

@@ -67,11 +67,11 @@ compiler.libs.c.flags= "-I{build.variant.path}/{build.inc1}" "-I{build.variant.p
 # ---------------------
 
 ## Compile c files
-recipe.c.o.pattern= "{compiler.path}{compiler.c.cmd}"  {compiler.c.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.c.extra_flags} {build.extra_flags} {build.cpu_flags} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
+recipe.c.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.c.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.c.extra_flags} {build.extra_flags} {build.cpu_flags} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
 ###
 
 ## Compile c++ files
-recipe.cpp.o.pattern= "{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {build.cpu_flags} {build.hs_flag} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
+recipe.cpp.o.pattern="{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {build.cpu_flags} {build.hs_flag} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
 #### {compiler.libs.c.flags} before includes
 
 ## Compile S files

arduino/opencr_release/package_opencr_index.json

@@ -1342,6 +1342,37 @@
  "version": "1.0.0"
  }
  ]
+ },
+ {
+ "name": "OpenCR",
+ "architecture": "OpenCR",
+ "version": "1.4.17",
+ "category": "Arduino",
+ "help": {
+ "online": "https://github.com/ROBOTIS-GIT/OpenCR"
+ },
+ "url": "https://github.com/ROBOTIS-GIT/OpenCR/releases/download/1.4.17/opencr.tar.bz2",
+ "archiveFileName": "opencr.tar.bz2",
+ "checksum": "SHA-256:2A0E5BC5ADE6EDFE1BAB44ED865DC315D9A9B24994956C5863CD3142BE387D30",
+ "size": "1991420",
+ "help": {
+ "online": "http:https://emanual.robotis.com/docs/en/parts/controller/opencr10/"
+ },
+ "boards": [
+ {"name": "OpenCR"}
+ ],
+ "toolsDependencies": [
+ {
+ "packager": "OpenCR",
+ "name": "opencr_gcc",
+ "version": "5.4.0-2016q2"
+ },
+ {
+ "packager": "OpenCR",
+ "name": "opencr_tools",
+ "version": "1.0.0"
+ }
+ ]
  }