change read mmethod with bulk method and model abstraction

[raess1]

Hey! Is this working?. I am trying catkin_make on the devel branch but get this:

[ 16%] Building CXX object dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/src/hardware_interface.cpp.o [ 33%] Building CXX object dynamixel_control_hw/CMakeFiles/dynamixel_control_p1.dir/src/dynamixel_control.cpp.o [ 50%] Building CXX object dynamixel_control_hw/CMakeFiles/dynamixel_control_p2.dir/src/dynamixel_control.cpp.o In file included from /home/rf/dynamixel_ws/src/dynamixel_control_hw/src/hardware_interface.cpp:2:0: /home/rf/dynamixel_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp: In instantiation of ‘void dynamixel::DynamixelHardwareInterface<Protocol>::read(const ros::Time&, const ros::Duration&) [with Protocol = dynamixel::protocols::Protocol1]’: /home/rf/dynamixel_ws/src/dynamixel_control_hw/src/hardware_interface.cpp:10:1: required from here /home/rf/dynamixel_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:284:52: error: ‘using element_type = class dynamixel::servos::BaseServo<dynamixel::protocols::Protocol1> {aka class dynamixel::servos::BaseServo<dynamixel::protocols::Protocol1>}’ has no member named ‘bulk_read_position_angle’; did you mean ‘set_goal_position_angle’? _dynamixel_controller.send(_servos[0]->bulk_read_position_angle(_ids_vector)); ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ set_goal_position_angle /home/rf/dynamixel_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp: In instantiation of ‘void dynamixel::DynamixelHardwareInterface<Protocol>::read(const ros::Time&, const ros::Duration&) [with Protocol = dynamixel::protocols::Protocol2]’: /home/rf/dynamixel_ws/src/dynamixel_control_hw/src/hardware_interface.cpp:10:1: required from here /home/rf/dynamixel_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:284:52: error: ‘using element_type = class dynamixel::servos::BaseServo<dynamixel::protocols::Protocol2> {aka class dynamixel::servos::BaseServo<dynamixel::protocols::Protocol2>}’ has no member named ‘bulk_read_position_angle’; did you mean ‘set_goal_position_angle’? _dynamixel_controller.send(_servos[0]->bulk_read_position_angle(_ids_vector)); ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ set_goal_position_angle In file included from /home/rf/dynamixel_ws/src/dynamixel_control_hw/src/dynamixel_control.cpp:38:0: /home/rf/dynamixel_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp: In instantiation of ‘void dynamixel::DynamixelHardwareInterface<Protocol>::read(const ros::Time&, const ros::Duration&) [with Protocol = dynamixel::protocols::Protocol2]’: /home/rf/dynamixel_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:260:13: required from ‘bool dynamixel::DynamixelHardwareInterface<Protocol>::init(ros::NodeHandle&, ros::NodeHandle&) [with Protocol = dynamixel::protocols::Protocol2]’ /home/rf/dynamixel_ws/src/dynamixel_control_hw/src/dynamixel_control.cpp:71:53: required from here /home/rf/dynamixel_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:284:52: error: ‘using element_type = class dynamixel::servos::BaseServo<dynamixel::protocols::Protocol2> {aka class dynamixel::servos::BaseServo<dynamixel::protocols::Protocol2>}’ has no member named ‘bulk_read_position_angle’; did you mean ‘set_goal_position_angle’? _dynamixel_controller.send(_servos[0]->bulk_read_position_angle(_ids_vector)); ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ set_goal_position_angle In file included from /home/rf/dynamixel_ws/src/dynamixel_control_hw/src/dynamixel_control.cpp:38:0: /home/rf/dynamixel_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp: In instantiation of ‘void dynamixel::DynamixelHardwareInterface<Protocol>::read(const ros::Time&, const ros::Duration&) [with Protocol = dynamixel::protocols::Protocol1]’: /home/rf/dynamixel_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:260:13: required from ‘bool dynamixel::DynamixelHardwareInterface<Protocol>::init(ros::NodeHandle&, ros::NodeHandle&) [with Protocol = dynamixel::protocols::Protocol1]’ /home/rf/dynamixel_ws/src/dynamixel_control_hw/src/dynamixel_control.cpp:71:53: required from here /home/rf/dynamixel_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:284:52: error: ‘using element_type = class dynamixel::servos::BaseServo<dynamixel::protocols::Protocol1> {aka class dynamixel::servos::BaseServo<dynamixel::protocols::Protocol1>}’ has no member named ‘bulk_read_position_angle’; did you mean ‘set_goal_position_angle’? _dynamixel_controller.send(_servos[0]->bulk_read_position_angle(_ids_vector)); ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ set_goal_position_angle dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/build.make:62: recipe for target 'dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/src/hardware_interface.cpp.o' failed make[2]: *** [dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/src/hardware_interface.cpp.o] Error 1 CMakeFiles/Makefile2:454: recipe for target 'dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/all' failed make[1]: *** [dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... dynamixel_control_hw/CMakeFiles/dynamixel_control_p2.dir/build.make:62: recipe for target 'dynamixel_control_hw/CMakeFiles/dynamixel_control_p2.dir/src/dynamixel_control.cpp.o' failed make[2]: *** [dynamixel_control_hw/CMakeFiles/dynamixel_control_p2.dir/src/dynamixel_control.cpp.o] Error 1 CMakeFiles/Makefile2:491: recipe for target 'dynamixel_control_hw/CMakeFiles/dynamixel_control_p2.dir/all' failed make[1]: *** [dynamixel_control_hw/CMakeFiles/dynamixel_control_p2.dir/all] Error 2 dynamixel_control_hw/CMakeFiles/dynamixel_control_p1.dir/build.make:62: recipe for target 'dynamixel_control_hw/CMakeFiles/dynamixel_control_p1.dir/src/dynamixel_control.cpp.o' failed make[2]: *** [dynamixel_control_hw/CMakeFiles/dynamixel_control_p1.dir/src/dynamixel_control.cpp.o] Error 1 CMakeFiles/Makefile2:528: recipe for target 'dynamixel_control_hw/CMakeFiles/dynamixel_control_p1.dir/all' failed make[1]: *** [dynamixel_control_hw/CMakeFiles/dynamixel_control_p1.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed

Any suggestions?

[dogoepp]

The error message is pretty hard to read for me, especially since the line breaking is lost. However, I suspect that devel was assuming a given branch of libdynamixel.

I have not used either dynamixel control hw nor libdynamixel in a while, so I do not recall the status of branches here and there. Maybe @PedroDesRobots, @dalinel or @jbmouret remember better.

[jbmouret]

Good question. @PedroDesRobots is away for the next 2 weeks, and he is the one who knows this best. I guess the intended branch is 'dev' on libdynamixel:
resibots/libdynamixel#61

But I do not know why this was not merged. We will try to fix this.