From dc9aafce6d957dc4d65c50176553862cf20bffd1 Mon Sep 17 00:00:00 2001
From: bueche <bueche64@gmail.com>
Date: Tue, 24 Feb 2026 13:53:39 -0800
Subject: [PATCH 1/3] support for additional present current, temperature,
 load, and voltage

---
 msg/DynamixelState.msg | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/msg/DynamixelState.msg b/msg/DynamixelState.msg
index 7aae937..a320348 100644
--- a/msg/DynamixelState.msg
+++ b/msg/DynamixelState.msg
@@ -1,9 +1,16 @@
 std_msgs/Header header
 
+# all arrays in tandem, elements at ith position correspond to servo noted in id[]
+# see corresponding servo manuals for return values and ranges
+
 int32 comm_state
 int32[] id
 bool[] torque_state
 int32[] dxl_hw_state
+int16[] present_temperature
+int16[] present_input_voltage
+int16[] present_current
+int16[] present_load
 
 int32 COMM_STATE_OK = 0
 int32 COMM_STATE_CANNOT_FIND_CONTROL_ITEM = -1

From 3fb76fddeecddc01890f92c39332d2308f32c41d Mon Sep 17 00:00:00 2001
From: bueche <ed.bueche64@gmail.com>
Date: Mon, 9 Mar 2026 15:42:02 -0700
Subject: [PATCH 2/3] additional documentation in the message definition

---
 msg/DynamixelState.msg | 25 +++++++++++++++++++++----
 1 file changed, 21 insertions(+), 4 deletions(-)

diff --git a/msg/DynamixelState.msg b/msg/DynamixelState.msg
index a320348..01b3514 100644
--- a/msg/DynamixelState.msg
+++ b/msg/DynamixelState.msg
@@ -7,10 +7,10 @@ int32 comm_state
 int32[] id
 bool[] torque_state
 int32[] dxl_hw_state
-int16[] present_temperature
-int16[] present_input_voltage
-int16[] present_current
-int16[] present_load
+int16[] present_temperature # Unit: Celsius, scaled by 1
+int16[] present_input_voltage # Unit: mV, scaled by 10 (123 means 12.3V)
+int16[] present_current # Unit: mA, scaled by 1 and +/- indicates rotation direction
+int16[] present_load # Unit: 0.1% (209 means 20.9%) and +/- indicates rotation direction
 
 int32 COMM_STATE_OK = 0
 int32 COMM_STATE_CANNOT_FIND_CONTROL_ITEM = -1
@@ -37,3 +37,20 @@ int32 COMM_STATE_DXL_REBOOT_FAIL = -17
 # dxl_hw_state = 8: motor encoder
 # dxl_hw_state = 16: electrical shork
 # dxl_hw_state = 32: Overload
+#
+# Additional notes on temperature, input_voltage, current, etc:
+# 1. To enable the reporting of these add the corresponding GPIO state_interface 
+#    elements in the URDF file. For example:
+#
+#      <!-- Motor 3: XL330-M288 (elbow_flex) -->
+#        <gpio name="dxl3">
+#           <param name="type">dxl</param>
+#           <param name="ID">3</param>
+#           <command_interface name="Goal Position"/>
+#           <state_interface name="Present Position"/>
+#           <state_interface name="Present Velocity"/>
+#           <state_interface name="Present Current"/>
+#           <state_interface name="Present Temperature"/>
+#           <state_interface name="Present Input Voltage"/>
+#        </gpio>
+#

From 1c0f4f51eda24bddb291b7d20b92ea5b36d51ded Mon Sep 17 00:00:00 2001
From: Ed Bueche <40256397+bueche@users.noreply.github.com>
Date: Tue, 10 Mar 2026 10:20:07 -0700
Subject: [PATCH 3/3] Update msg/DynamixelState.msg

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: Ed Bueche <40256397+bueche@users.noreply.github.com>
---
 msg/DynamixelState.msg | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/msg/DynamixelState.msg b/msg/DynamixelState.msg
index 01b3514..3d5bdaf 100644
--- a/msg/DynamixelState.msg
+++ b/msg/DynamixelState.msg
@@ -1,8 +1,8 @@
 std_msgs/Header header
 
-# all arrays in tandem, elements at ith position correspond to servo noted in id[]
-# see corresponding servo manuals for return values and ranges
-
+# All per-servo arrays below MUST have the same length as `id`. For each index i,
+# servo id[i] has its corresponding state stored at index i in every array.
+# See the corresponding servo manuals for return values and ranges.
 int32 comm_state
 int32[] id
 bool[] torque_state