Merge pull request #391 from ROBOTIS-GIT/feature-humble-issue-handling

Resolved the issue where the build was failing on SBC

Author: robotpilot

.github/workflows/dynamixel_workbench.repos

@@ -2,4 +2,4 @@ repositories:
   dynamixel_workbench/dynamixel_workbench_msgs:
     type: git
     url: https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
-    version: ros2
+    version: main

.github/workflows/ros-ci.yml

@@ -1,53 +1,59 @@
-name: humble-devel
+# The name of the workflow
+name: CI
 
-# Controls when the action will run. Triggers the workflow on push or pull request
+# Specifies the events that trigger the workflow
 on:
   push:
-    branches: [ humble-devel ]
+    branches: [ main, humble, jazzy]
   pull_request:
-    branches: [ humble-devel ]
+    branches: [ main, humble, jazzy]
 
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+# Defines a set of jobs to be run as part of the workflow
 jobs:
-  ros2-ci:
-    runs-on: ubuntu-latest
+  # The name of the job
+  ROS_CI:
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
         ros_distribution:
-          # - foxy
-          # - galactic
           - humble
-          # - rolling
+          - jazzy
+          - rolling
         include:
-          #   # Foxy Fitzroy (June 2020 - May 2023)
-          # - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
-          #   ros_distribution: foxy
-          #   ros_version: 2
-          #   # Galactic Geochelone (May 2021)
-          # - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
-          #   ros_distribution: galactic
-          #   ros_version: 2
-            # Humble Hawksbill (May 2027)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+          # ROS 2 Humble Hawksbill
+          - docker_image: ubuntu:jammy
             ros_distribution: humble
             ros_version: 2
-          #   # Rolling
-          # - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
-          #   ros_distribution: rolling
-          #   ros_version: 2
+          # ROS 2 Jazzy Jalisco
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ros_version: 2
+          # ROS 2 Rolling Ridley
+          - docker_image: ubuntu:noble
+            ros_distribution: rolling
+            ros_version: 2
     container:
       image: ${{ matrix.docker_image }}
     steps:
-      - name: Setup directories
+      - name: Setup workspace
         run: mkdir -p ros_ws/src
-      - name: checkout
-        uses: actions/checkout@v2
+
+      - name: Checkout code
+        uses: actions/checkout@v4
         with:
           path: ros_ws/src
+
+      - name: Setup ROS environment
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
       - name: Build and Test
-        uses: ros-tooling/action-ros-ci@0.2.6
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
-          package-name: dynamixel_workbench
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/dynamixel-workbench/ros2-devel/.github/workflows/dynamixel_workbench.repos"
+          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/dynamixel-workbench/main/.github/workflows/dynamixel_workbench.repos"
+          package-name: |
+            dynamixel_workbench
+            dynamixel_workbench_toolbox

README.md

@@ -1,30 +1,35 @@
 # DYNAMIXEL Workbench
-![](https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/sw/dynamixel/dynamixel_workbench/DYNAMIXEL_WORKBENCH_LOGO.png)
+<img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/sw/dynamixel/dynamixel_workbench/DYNAMIXEL_WORKBENCH_LOGO.png" width="300">
 
-- Active Branches: noetic, humble, main
+- Active Branches: noetic, humble, jazzy, main
 - Legacy Branches: *-devel
 
-## ROBOTIS e-Manual for DYNAMIXEL Workbench
-- [ROBOTIS e-Manual for DYNAMIXEL Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
-
-## Wiki for dynamixel_workbench Packages
-- http://wiki.ros.org/dynamixel_workbench (metapackage)
-- http://wiki.ros.org/dynamixel_workbench_controllers
-- http://wiki.ros.org/dynamixel_workbench_operators
-- http://wiki.ros.org/dynamixel_workbench_single_manager
-- http://wiki.ros.org/dynamixel_workbench_single_manager_gui
-- http://wiki.ros.org/dynamixel_workbench_toolbox
-
-## Open Source related to DYNAMIXEL Workbench
+## Open Source Projects Related to Dynamixel Workbench
+- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
 - [dynamixel_workbench](https://github.com/ROBOTIS-GIT/dynamixel-workbench)
 - [dynamixel_workbench_msgs](https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs)
-- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
+- [dynamixel_hardware_interface](https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface)
+- [dynamixel_interfaces](https://github.com/ROBOTIS-GIT/dynamixel_interfaces)
+- [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3)
 - [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator)
 - [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
 - [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
 
-## Documents and Videos related to DYNAMIXEL Workbench
-- [ROBOTIS e-Manual for DYNAMIXEL Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
-- [ROBOTIS e-Manual for DYNAMIXEL SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
-- [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/)
-- [ROBOTIS e-Manual for OpenCR](http://emanual.robotis.com/docs/en/parts/controller/opencr10/)
+## Documentation, Videos, and Community
+
+### Official Documentation
+- ⚙️ **[ROBOTIS DYNAMIXEL](https://dynamixel.com/)**
+- 📚 **[ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)**
+- 📚 **[ROBOTIS e-Manual for Dynamixel Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)**
+- 📚 **[ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)**
+- 📚 **[ROBOTIS e-Manual for OpenMANIPULATOR-X](https://emanual.robotis.com/docs/en/platform/openmanipulator_x/overview/)**
+
+### Learning Resources
+- 🎥 **[ROBOTIS YouTube Channel](https://www.youtube.com/@ROBOTISCHANNEL)**
+- 🎥 **[ROBOTIS Open Source YouTube Channel](https://www.youtube.com/@ROBOTISOpenSourceTeam)**
+- 🎥 **[ROBOTIS TurtleBot3 YouTube Playlist](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU)**
+- 🎥 **[ROBOTIS OpenMANIPULATOR YouTube Playlist](https://www.youtube.com/playlist?list=PLRG6WP3c31_WpEsB6_Rdt3KhiopXQlUkb)**
+
+### Community & Support
+- 💬 **[ROBOTIS Community Forum](https://forum.robotis.com/)**
+- 💬 **[TurtleBot category from ROS Community](https://discourse.ros.org/c/turtlebot/)**

dynamixel_workbench/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package dynamixel_workbench
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.4 (2025-03-14)
+------------------
+* Fixed the issue where the Workbench example was not building on SBC by adding the ARM option.
+* Added the CI for ROS 2 rolling, jazzy and Humble.
+* Contributoers: Wonho Yun
+
 2.2.3 (2022-10-06)
 ------------------
 * ROS2 release (Foxy, Galactic, Humble)
@@ -21,19 +27,19 @@ Changelog for package dynamixel_workbench
 2.1.0 (2019-06-04)
 ------------------
 * Removed single_manager and single_manager_gui
-* Added XH540, PRO (A Firmware), RH_P12_RN, RH_P12_RN (A Firmware) 
+* Added XH540, PRO (A Firmware), RH_P12_RN, RH_P12_RN (A Firmware)
 * Contributors: Ryan Shim
 
 2.0.0 (2019-01-04)
 ------------------
-* added YAML configuration for Dynamixel 
+* added YAML configuration for Dynamixel
 * supported position control mode, current based position control mode through Joint Trajectory Message
 * supported velocity control mode through Twist Message
 * reduced memory usage(Contribute by @KurtE)
 * updated API for sync, bulk instruction
 * updated control period (default is 10ms)
-* supported Linux, macos 
-* supported Pro+ 
+* supported Linux, macos
+* supported Pro+
 * supported DynamixelSDK(after v.3.6.2)
 * supported OpenManipulator
 * Contributors: Darby Lim, KurtE, Pyo
@@ -67,7 +73,7 @@ Changelog for package dynamixel_workbench
 * changed max_dxl_deries_num
 * changed compile options for qt5
 * deleted unused code
-* merged pull request `#152 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/152>`_ `#151 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/151>`_ `#149 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/149>`_ `#132 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/132>`_ 
+* merged pull request `#152 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/152>`_ `#151 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/151>`_ `#149 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/149>`_ `#132 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/132>`_
 * Contributors: Darby Lim, Pyo
 
 0.2.4 (2018-03-20)

dynamixel_workbench/package.xml

@@ -2,21 +2,22 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dynamixel_workbench</name>
-  <version>2.2.3</version>
+  <version>2.2.4</version>
   <description>
     Dynamixel-Workbench is dynamixel solution for ROS.
     This metapackage allows you to easily change the ID, baudrate and operating mode of the Dynamixel.
     Furthermore, it supports various controllers based on operating mode and Dynamixel SDK.
     These controllers are commanded by operators.
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">http://wiki.ros.org/dynamixel_workbench</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/dynamixel-workbench</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues</url>
   <author email="[email protected]">Darby Lim</author>
   <author email="[email protected]">Will Son</author>
   <author>Ryan Shim</author>
+  <author email="[email protected]">Wonho Yun</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>dynamixel_workbench_toolbox</exec_depend>
   <export>

dynamixel_workbench_toolbox/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package dynamixel_workbench_toolbox
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.4 (2025-03-14)
+------------------
+* Fixed the issue where the Workbench example was not building on SBC by adding the ARM option.
+* Added the CI for ROS 2 rolling, jazzy and Humble.
+* Contributoers: Wonho Yun
+
 2.2.3 (2022-10-06)
 ------------------
 * ROS2 release (Foxy, Galactic, Humble)
@@ -21,19 +27,19 @@ Changelog for package dynamixel_workbench_toolbox
 2.1.0 (2019-06-04)
 ------------------
 * Removed single_manager and single_manager_gui
-* Added XH540, PRO (A Firmware), RH_P12_RN, RH_P12_RN (A Firmware) 
+* Added XH540, PRO (A Firmware), RH_P12_RN, RH_P12_RN (A Firmware)
 * Contributors: Ryan Shim
 
 2.0.0 (2019-01-04)
 ------------------
-* added YAML configuration for Dynamixel 
+* added YAML configuration for Dynamixel
 * supported position control mode, current based position control mode through Joint Trajectory Message
 * supported velocity control mode through Twist Message
 * reduced memory usage(Contribute by @KurtE)
 * updated API for sync, bulk instruction
 * updated control period (default is 10ms)
-* supported Linux, macos 
-* supported Pro+ 
+* supported Linux, macos
+* supported Pro+
 * supported DynamixelSDK(after v.3.6.2)
 * supported OpenManipulator
 * Contributors: Darby Lim, KurtE, Pyo
@@ -56,7 +62,7 @@ Changelog for package dynamixel_workbench_toolbox
 ------------------
 * added getProtocolVersion()
 * changed max_dxl_deries_num
-* merged pull request `#152 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/152>`_ `#151 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/151>`_ `#149 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/149>`_ `#132 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/132>`_ 
+* merged pull request `#152 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/152>`_ `#151 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/151>`_ `#149 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/149>`_ `#132 <https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/132>`_
 * Contributors: Darby Lim, Pyo
 
 0.2.4 (2018-03-20)

dynamixel_workbench_toolbox/examples/CMakeLists.txt

@@ -16,6 +16,8 @@ add_library(dynamixel_workbench
 
 if(APPLE)
   target_link_libraries(dynamixel_workbench LINK_PUBLIC "/usr/local/lib/libdxl_mac_cpp.dylib")
+elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "arm" OR CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+  target_link_libraries(dynamixel_workbench LINK_PUBLIC "/usr/local/lib/libdxl_sbc_cpp.so")
 else()
   target_link_libraries(dynamixel_workbench LINK_PUBLIC "/usr/local/lib/libdxl_x64_cpp.so")
 endif()
@@ -66,4 +68,4 @@ add_executable(find_dynamixel src/o_Find_Dynamixel.cpp)
 target_link_libraries(find_dynamixel LINK_PUBLIC dynamixel_workbench)
 
 add_executable(monitor src/p_Monitor.cpp)
-target_link_libraries(monitor LINK_PUBLIC dynamixel_workbench)
+target_link_libraries(monitor LINK_PUBLIC dynamixel_workbench)

dynamixel_workbench_toolbox/examples/src/a_Model_Scan.cpp

@@ -18,7 +18,7 @@
 
 #include <DynamixelWorkbench.h>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +52,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   printf("Wait for scan...\n");
   result = dxl_wb.scan(scanned_id, &dxl_cnt, range, &log);
@@ -70,4 +70,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
+}

dynamixel_workbench_toolbox/examples/src/b_Ping.cpp

@@ -18,7 +18,7 @@
 
 #include <DynamixelWorkbench.h>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +52,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -67,4 +67,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
+}

dynamixel_workbench_toolbox/examples/src/c_ID_Change.cpp

@@ -18,7 +18,7 @@
 
 #include <DynamixelWorkbench.h>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +52,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   uint16_t model_number = 0;
   result = dxl_wb.ping(dxl_id, &model_number, &log);
@@ -98,4 +98,4 @@ int main(int argc, char *argv[])
     for (int cnt = 0; cnt < dxl_cnt; cnt++)
       printf("id : %d, model name : %s\n", scanned_id[cnt], dxl_wb.getModelName(scanned_id[cnt]));
   }
-}
+}