Merge pull request #400 from ROBOTIS-GIT/develop

Develop
ROBOTIS-GIT · Jul 14, 2020 · 9868916 · 9868916
2 parents c6b74a1 + 6b7124f
commit 9868916
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Showing 11 changed files with 27 additions and 52 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -15,16 +15,16 @@ notifications:
     on_success: change
     on_failure: always
     recipients:
-      - pyo@robotis.com
+      - willson@robotis.com
 env:
   matrix:
     - ROS_DISTRO=indigo  ROS_REPO=ros UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=trusty
     - ROS_DISTRO=kinetic ROS_REPO=ros UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=xenial
     - ROS_DISTRO=melodic ROS_REPO=ros UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=bionic
     - ROS_DISTRO=melodic ROS_REPO=ros UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
+    - ROS_DISTRO=noetic ROS_REPO=ros UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=focal
 matrix:
   allow_failures:
-    - env: ROS_DISTRO=melodic ROS_REPO=ros UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=bionic
     - env: ROS_DISTRO=melodic ROS_REPO=ros UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
 branches:
   only:
@@ -33,6 +33,7 @@ branches:
     - indigo-devel
     - kinetic-devel
     - melodic-devel
+    - noetic-devel
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script:

diff --git a/README.md b/README.md
@@ -13,14 +13,14 @@ DynamixelSDK supports various programming languages.
 (* Dynamic library (*.dll, *.so, and *.dylib files) / .dll: dynamic-link library on Windows / .so: shared object on Linux / .dylib: dynamic library on MacOS)
 
 ## ROS 1 Packages for Dynamixel SDK
-|develop|master|Indigo + Ubuntu Trusty|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
-|:---:|:---:|:---:|:---:|:---:|
-|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=develop)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=indigo-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=melodic-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|
+|develop|master|Indigo + Ubuntu Trusty|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|Noetic + Ubuntu Focal|
+|:---:|:---:|:---:|:---:|:---:|:---:|
+|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=develop)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=indigo-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=melodic-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=noetic-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|
 
 ## ROS 2 Packages for Dynamixel SDK
-|ros2-devel|ros2|Dashing + Ubuntu Bionic|
-|:---:|:---:|:---:|
-|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=ros2-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=ros2)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=dashing-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|
+|ros2-devel|ros2|Dashing + Ubuntu Bionic|Eloquent + Ubuntu Bionic|Foxy + Ubuntu Foxy|
+|:---:|:---:|:---:|:---:|:---:|
+|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=ros2-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=ros2)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=dashing-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=eloquent-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK.svg?branch=foxy-devel)](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|
 
 For more information on ROS Packages for Dynamixel SDK, please refer to the ROS wiki pages below.
 - http://wiki.ros.org/dynamixel_sdk

diff --git a/ReleaseNote.md b/ReleaseNote.md
@@ -1,5 +1,9 @@
 # Dynamixel SDK Release Notes
 
+3.7.3 (2020-07-13)
+-------------------
+* ROS 1 Noetic Ninjemys support
+
 3.7.21 (2019-09-06)
 -------------------
 * Fixed buffer overflow bug (rxpacket size)

diff --git a/c++/src/dynamixel_sdk/group_bulk_read.cpp b/c++/src/dynamixel_sdk/group_bulk_read.cpp
@@ -232,14 +232,5 @@ bool GroupBulkRead::getError(uint8_t id, uint8_t* error)
   // TODO : check protocol version, last_result_, data_list
   // if (last_result_ == false || error_list_.find(id) == error_list_.end())
 
-  error[0] = error_list_[id][0];
-
-  if (error[0] != 0)
-  {
-    return true;
-  }
-  else
-  {
-    return false;
-  }
+  return error[0] = error_list_[id][0];
 }
diff --git a/c++/src/dynamixel_sdk/group_sync_read.cpp b/c++/src/dynamixel_sdk/group_sync_read.cpp
@@ -201,14 +201,5 @@ bool GroupSyncRead::getError(uint8_t id, uint8_t* error)
   // TODO : check protocol version, last_result_, data_list
   // if (ph_->getProtocolVersion() == 1.0 || last_result_ == false || error_list_.find(id) == error_list_.end())
 
-  error[0] = error_list_[id][0];
-
-  if (error[0] != 0)
-  {
-    return true;
-  }
-  else
-  {
-    return false;
-  }
+  return error[0] = error_list_[id][0];
 }
diff --git a/java/dynamixel_functions_java/x86/Dynamixel.java b/java/dynamixel_functions_java/x86/Dynamixel.java
@@ -167,7 +167,7 @@ interface LibFunction extends Library
 
 public class Dynamixel
 {
-  LibFunction libFunction = (LibFunction)Native.loadLibrary("dxl_x64_c", LibFunction.class);
+  LibFunction libFunction = (LibFunction)Native.loadLibrary("dxl_x86_c", LibFunction.class);
 
   // PortHandler functions
   public int portHandler(String str)

diff --git a/python/setup.py b/python/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name='dynamixel_sdk',
-    version='3.6.0',
+    version='3.7.3',
     packages=['dynamixel_sdk'],
     package_dir={'': 'src'},
     license='Apache 2.0',

diff --git a/ros/CHANGELOG.rst b/ros/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package dynamixel_sdk
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.3 (2020-07-13)
+-------------------
+* ROS 1 Noetic Ninjemys support
+* 3x faster getError member function of GroupSyncRead Class
+* Contributors: developer0hye, Zerom, Will Son
+
 3.7.21 (2019-09-06)
 -------------------
 * Fixed buffer overflow bug (rxpacket size)

diff --git a/ros/package.xml b/ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>dynamixel_sdk</name>
-  <version>3.7.21</version>
+  <version>3.7.3</version>
   <description>
     This package is wrapping version of ROBOTIS Dynamixel SDK for ROS. The ROBOTIS Dynamixel SDK, or SDK, is a software development library that provides Dynamixel control functions for packet communication. The API is designed for Dynamixel actuators and Dynamixel-based platforms.
   </description>
@@ -10,7 +10,7 @@
   <author email="zerom@robotis.com">Zerom</author>
   <author email="thlim@robotis.com">Darby Lim</author>
   <author>Leon</author>
-  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <maintainer email="willson@robotis.com">Will Son</maintainer>
   <url type="website">http://wiki.ros.org/dynamixel_sdk</url>
   <url type="emanual">http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/DynamixelSDK</url>

diff --git a/ros/src/dynamixel_sdk/group_bulk_read.cpp b/ros/src/dynamixel_sdk/group_bulk_read.cpp
@@ -232,14 +232,5 @@ bool GroupBulkRead::getError(uint8_t id, uint8_t* error)
   // TODO : check protocol version, last_result_, data_list
   // if (last_result_ == false || error_list_.find(id) == error_list_.end())
 
-  error[0] = error_list_[id][0];
-
-  if (error[0] != 0)
-  {
-    return true;
-  }
-  else
-  {
-    return false;
-  }
+  return error[0] = error_list_[id][0];
 }
diff --git a/ros/src/dynamixel_sdk/group_sync_read.cpp b/ros/src/dynamixel_sdk/group_sync_read.cpp
@@ -201,14 +201,5 @@ bool GroupSyncRead::getError(uint8_t id, uint8_t* error)
   // TODO : check protocol version, last_result_, data_list
   // if (ph_->getProtocolVersion() == 1.0 || last_result_ == false || error_list_.find(id) == error_list_.end())
 
-  error[0] = error_list_[id][0];
-
-  if (error[0] != 0)
-  {
-    return true;
-  }
-  else
-  {
-    return false;
-  }
+  return error[0] = error_list_[id][0];
 }