support for additional present current, temperature, load, and voltage#10
support for additional present current, temperature, load, and voltage#10bueche wants to merge 3 commits intoROBOTIS-GIT:jazzyfrom
Conversation
Summary of ChangesHello @bueche, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed! This pull request expands the Highlights
🧠 New Feature in Public Preview: You can now enable Memory to help Gemini Code Assist learn from your team's feedback. This makes future code reviews more consistent and personalized to your project's style. Click here to enable Memory in your admin console. Changelog
Using Gemini Code AssistThe full guide for Gemini Code Assist can be found on our documentation page, here are some quick tips. Invoking Gemini You can request assistance from Gemini at any point by creating a comment using either
Customization To customize Gemini Code Assist for GitHub experience, repository maintainers can create a configuration file and/or provide a custom code review style guide (such as PEP-8 for Python) by creating and adding files to a Limitations & Feedback Gemini Code Assist may make mistakes. Please leave feedback on any instances where its feedback is incorrect or counter productive. You can react with 👍 and 👎 on @gemini-code-assist comments. If you're interested in giving your feedback about your experience with Gemini Code Assist for Github and other Google products, sign up here. You can also get AI-powered code generation, chat, as well as code reviews directly in the IDE at no cost with the Gemini Code Assist IDE Extension. Footnotes
|
![gemini-code-assist[bot]](https://avatars.githubusercontent.com/in/956858?s=60&v=4){kind=small}
There was a problem hiding this comment.
Code Review
The pull request successfully adds new fields for present temperature, input voltage, current, and load to the DynamixelState.msg file, which aligns with the goal of supporting additional telemetry information. The added comment block clarifies that arrays are in tandem, which is helpful. However, to ensure clarity and prevent misinterpretation of the telemetry data, it is important to explicitly define the units and any scaling factors for the new int16[] fields.
There was a problem hiding this comment.
Pull request overview
This PR extends the DynamixelState ROS interface message to carry additional telemetry (temperature, input voltage, current, load) to address Issue #8 and enable downstream consumers to access these “Present *” control-table values.
Changes:
- Added telemetry arrays for present temperature, input voltage, current, and load to
DynamixelState.msg. - Added brief indexing guidance indicating arrays are intended to be aligned by servo index.
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: Ed Bueche <40256397+bueche@users.noreply.github.com>
This PR adds the necessary structure to pull telemetry information for Present Input Voltage, Temperature, Current, and/or load. This is in support of Issue #8 and is a companion PR to ROBOTIS-GIT/dynamixel_hardware_interface#107 which implement the corresponding changes.