Merge pull request #412 from ROBOTIS-GIT/ros2-devel

prepare to release v3.7.31
ROBOTIS-GIT · Jul 15, 2020 · d983879 · d983879
2 parents 5b63f2b + 42b2eb7
commit d983879
Show file tree

Hide file tree

Showing 4 changed files with 6 additions and 23 deletions.
diff --git a/dynamixel_sdk/CHANGELOG.rst b/dynamixel_sdk/CHANGELOG.rst
@@ -2,11 +2,12 @@
 Changelog for package dynamixel_sdk
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.7.3 (2020-07-13)
+3.7.31 (2020-07-13)
 ------------------
 * ROS 2 Eloquent Elusor supported
 * ROS 2 Foxy Fitzroy supported
-* Contributors: Will Son
+* 3x faster getError member function of GroupSync&BulkRead Class #388
+* Contributors: developer0hye, Zerom, Will Son
 
 3.7.20 (2019-09-06)
 -------------------

diff --git a/dynamixel_sdk/package.xml b/dynamixel_sdk/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dynamixel_sdk</name>
-  <version>3.7.3</version>
+  <version>3.7.31</version>
   <description>
     This package is wrapping version of ROBOTIS Dynamixel SDK for ROS 2. 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>

diff --git a/dynamixel_sdk/src/dynamixel_sdk/group_bulk_read.cpp b/dynamixel_sdk/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/dynamixel_sdk/src/dynamixel_sdk/group_sync_read.cpp b/dynamixel_sdk/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];
 }