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Merged
robotpilot merged 5 commits into from
Jun 4, 2025
Merged

Bump 2.2.5 #400

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b0f1c56
use modern cmake to do target-based installation
ijnek May 22, 2025
abb459d
Merge pull request #397 from ijnek/feat/modern-cmake
yun-goon Jun 4, 2025
4e756fb
Modified the version
yun-goon Jun 4, 2025
220f2ce
Fixed the typo
yun-goon Jun 4, 2025
ae60eb4
Merge pull request #399 from ROBOTIS-GIT/feature-fix-cmake
robotpilot Jun 4, 2025
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10 changes: 8 additions & 2 deletions dynamixel_workbench/CHANGELOG.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,23 @@
Changelog for package dynamixel_workbench
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.2.5 (2025-06-04)
------------------
* Remove unused rclcpp dependency
* Remove ament_target_dependencies (deprecated in ROS 2 kilted)
* Contributors: ijnek

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
* Contributors: Wonho Yun

2.2.3 (2022-10-06)
------------------
* ROS2 release (Foxy, Galactic, Humble)
* fix variable length warning (#364)
* Contributoers: Kenji Brameld, Will Son
* Contributors: Kenji Brameld, Will Son

2.2.2 (2022-01-25)
------------------
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2 changes: 1 addition & 1 deletion dynamixel_workbench/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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_workbench</name>
<version>2.2.4</version>
<version>2.2.5</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.
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10 changes: 8 additions & 2 deletions dynamixel_workbench_toolbox/CHANGELOG.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,23 @@
Changelog for package dynamixel_workbench_toolbox
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.2.5 (2025-06-04)
------------------
* Remove unused rclcpp dependency
* Remove ament_target_dependencies (deprecated in ROS 2 kilted)
* Contributors: ijnek

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
* Contributors: Wonho Yun

2.2.3 (2022-10-06)
------------------
* ROS2 release (Foxy, Galactic, Humble)
* fix variable length warning (#364)
* Contributoers: Kenji Brameld, Will Son
* Contributors: Kenji Brameld, Will Son

2.2.2 (2022-01-25)
------------------
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26 changes: 12 additions & 14 deletions dynamixel_workbench_toolbox/CMakeLists.txt
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Expand Up @@ -23,7 +23,6 @@ endif()
################################################################################
find_package(ament_cmake REQUIRED)
find_package(dynamixel_sdk REQUIRED)
find_package(rclcpp REQUIRED)

################################################################################
# Declare ROS messages, services and actions
Expand All @@ -32,14 +31,6 @@ find_package(rclcpp REQUIRED)
################################################################################
# Build
################################################################################
include_directories(
include
)

set(dependencies_lib
"dynamixel_sdk"
"rclcpp"
)

set(LIB_NAME "dynamixel_workbench_toolbox")

Expand All @@ -49,19 +40,28 @@ add_library(${LIB_NAME} SHARED
src/${PROJECT_NAME}/dynamixel_tool.cpp
src/${PROJECT_NAME}/dynamixel_workbench.cpp
)
ament_target_dependencies(${LIB_NAME} ${dependencies_lib})
target_include_directories(${LIB_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>

@gemini-code-assist gemini-code-assist Bot Jun 4, 2025

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critical

To align with the standard ROS include pattern (#include <package_name/header.h>) and ensure correct header discovery by downstream packages, this INSTALL_INTERFACE should be include.

This change is related to the header installation method (see comment on lines 63-65). When headers are installed to PREFIX/include/package_name/header.h, downstream packages should add PREFIX/include to their include search paths. This INSTALL_INTERFACE directive configures that for consumers of this target.

  $<INSTALL_INTERFACE:include>

${dynamixel_sdk_INCLUDE_DIRS}
)

target_link_libraries(${LIB_NAME} PUBLIC
${dynamixel_sdk_LIBRARIES}
)

################################################################################
# Install
################################################################################
install(TARGETS ${LIB_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin/${PROJECT_NAME}
)

install(DIRECTORY include/
DESTINATION include/
DESTINATION include/${PROJECT_NAME}
)
Comment on lines 63 to 65

@gemini-code-assist gemini-code-assist Bot Jun 4, 2025

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critical

This installation rule for header files, combined with the INSTALL_INTERFACE on line 45, appears to lead to incorrect header paths for downstream packages.

Given the source structure where headers are located at include/${PROJECT_NAME}/header.h (e.g., include/dynamixel_workbench_toolbox/dynamixel_driver.h):

  1. The current install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME}) copies the contents of the source include/ directory (which includes the dynamixel_workbench_toolbox/ subdirectory itself) into PREFIX/include/${PROJECT_NAME}/. This results in a nested path like PREFIX/include/dynamixel_workbench_toolbox/dynamixel_workbench_toolbox/header.h.
  2. The standard ROS convention is for headers to be installed at PREFIX/include/package_name/header.h and included via #include <package_name/header.h>.

To achieve this, the headers from the source include/${PROJECT_NAME}/ directory should be installed directly into the PREFIX/include/${PROJECT_NAME}/ destination.

Could you please adjust this installation rule? Also, ensure the INSTALL_INTERFACE on line 45 is set to include (as per separate comment).

install(
  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}/
  DESTINATION include/${PROJECT_NAME}
  FILES_MATCHING PATTERN "*.h"
)


################################################################################
Expand All @@ -71,8 +71,6 @@ install(DIRECTORY include/
################################################################################
# Macro for ament package
################################################################################
ament_export_include_directories(include)
ament_export_dependencies(dynamixel_sdk)
ament_export_dependencies(rclcpp)
ament_export_libraries(${LIB_NAME})
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_package()
4 changes: 2 additions & 2 deletions dynamixel_workbench_toolbox/library.properties
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@@ -1,7 +1,7 @@
name=DynamixelWorkbench
version=2.2.4
version=2.2.5
author=Darby Lim (thlim@robotis.com)
maintainer=Will Son (willson@robotis.com)
maintainer=Pyo (pyo@robotis.com)
sentence=DynamixelWorkbench using DynamixelSDK
paragraph=Tools for Dynamixel
category=Other
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3 changes: 1 addition & 2 deletions dynamixel_workbench_toolbox/package.xml
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Expand Up @@ -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_workbench_toolbox</name>
<version>2.2.4</version>
<version>2.2.5</version>
<description>
This package is composed of 'dynamixel_item', 'dynamixel_tool', 'dynamixel_driver' and 'dynamixel_workbench' class.
The 'dynamixel_item' is saved as control table item and information of DYNAMIXEL.
Expand All @@ -21,7 +21,6 @@
<author email="willson@robotis.com">Will Son</author>
<author email="ywh@robotis.com">Wonho Yun</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>dynamixel_sdk</depend>
<export>
<build_type>ament_cmake</build_type>
Expand Down