From dad83b4bd8c9d9e55bb1d9dff8b82e17a689ec8c Mon Sep 17 00:00:00 2001
From: bueche <ed.bueche64@gmail.com>
Date: Sun, 8 Feb 2026 12:44:52 -0800
Subject: [PATCH 1/4]  support telemetry on temperature, input voltage,
 current, and load

Signed-off-by: bueche <ed.bueche64@gmail.com>
---
 msg/DynamixelState.msg | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/msg/DynamixelState.msg b/msg/DynamixelState.msg
index 7aae937..c8d4b62 100644
--- a/msg/DynamixelState.msg
+++ b/msg/DynamixelState.msg
@@ -4,6 +4,10 @@ int32 comm_state
 int32[] id
 bool[] torque_state
 int32[] dxl_hw_state
+int16[] temperature
+int16[] voltage
+int16[] present_current
+int16[] present_load
 
 int32 COMM_STATE_OK = 0
 int32 COMM_STATE_CANNOT_FIND_CONTROL_ITEM = -1

From 97d00763e6a02c60f3bf3e918b846e7e82949979 Mon Sep 17 00:00:00 2001
From: bueche <ed.bueche64@gmail.com>
Date: Sun, 8 Feb 2026 13:25:01 -0800
Subject: [PATCH 2/4]  review feedback: ensure naming is consistent

Signed-off-by: bueche <ed.bueche64@gmail.com>
---
 msg/DynamixelState.msg | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/msg/DynamixelState.msg b/msg/DynamixelState.msg
index c8d4b62..c26b0cd 100644
--- a/msg/DynamixelState.msg
+++ b/msg/DynamixelState.msg
@@ -4,8 +4,8 @@ int32 comm_state
 int32[] id
 bool[] torque_state
 int32[] dxl_hw_state
-int16[] temperature
-int16[] voltage
+int16[] present_temperature
+int16[] present_input_voltage
 int16[] present_current
 int16[] present_load
 

From 8c21fade40d05ea0444106ae0a0083a21dd3b0f5 Mon Sep 17 00:00:00 2001
From: bueche <ed.bueche64@gmail.com>
Date: Sun, 8 Feb 2026 13:53:33 -0800
Subject: [PATCH 3/4]  added comment to the msg on tandem arrays and manual
 source for values

Signed-off-by: bueche <ed.bueche64@gmail.com>
---
 msg/DynamixelState.msg | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/msg/DynamixelState.msg b/msg/DynamixelState.msg
index c26b0cd..a320348 100644
--- a/msg/DynamixelState.msg
+++ b/msg/DynamixelState.msg
@@ -1,5 +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
+
 int32 comm_state
 int32[] id
 bool[] torque_state

From 8c7478a9e46e8f87c98bb14136e928a64c63925c Mon Sep 17 00:00:00 2001
From: bueche <ed.bueche64@gmail.com>
Date: Sun, 8 Feb 2026 17:12:34 -0800
Subject: [PATCH 4/4]  version bump and changelog update

Signed-off-by: bueche <ed.bueche64@gmail.com>
---
 CHANGELOG.rst | 13 +++++++++++++
 package.xml   |  2 +-
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 9d9c39d..c069a12 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -1,6 +1,19 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package dynamixel_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.0.0 (2024-02-08)
+------------------
+* **BREAKING**: Add telemetry fields to DynamixelState message
+  
+  - Added present_temperature (int16[])
+  - Added present_input_voltage (int16[]) 
+  - Added present_current (int16[])
+  - Added present_load (int16[])
+  
+  Downstream packages must:
+  1. Rebuild against new message definition
+  2. Update code if parsing DynamixelState messages
+  
 
 1.0.1 (2025-03-11)
 ------------------
diff --git a/package.xml b/package.xml
index c3a97c3..2a456e5 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <package format="3">
   <name>dynamixel_interfaces</name>
-  <version>1.0.1</version>
+  <version>2.0.0</version>
   <description>
     dynamixel_interfaces contains base messages and service useful for controlling Dynamixel.
   </description>