This repository was archived by the owner on Jul 26, 2026. It is now read-only.
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docs: deprecate in favour of dynamixel_hardware_interface - #117
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Covers installation, the URDF conversion from this package's <joint> schema to the official package's parallel <gpio> schema, full parameter and interface mapping tables, what the official package adds, what is lost with an honest workaround for each, and how to pin this package for the Protocol 1.0 and runtime-mode-switching cases that cannot migrate. Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Add a deprecation banner to the README pointing at ROBOTIS's officially maintained package and at the migration guide, and mark the package.xml description [DEPRECATED]. No further releases will be made. The repository is archived once the rosdistro end-of-life status merges. Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
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Deprecates
dynamixel_hardwarein favour of ROBOTIS's officially maintaineddynamixel_hardware_interface, and adds the migration guide that the deprecation depends on.The official package fills the same role, is released for humble, jazzy, kilted, lyrical, and rolling together with its dependencies, is actively developed by ROBOTIS, and is the hardware layer behind their own OpenManipulator-X, OMY, and AI Worker products. It has roughly twenty capabilities this package does not: Fast Sync/Bulk Read, indirect-address packing, automatic Sync-versus-Bulk selection, multi-bus operation, joint-to-transmission matrices, arbitrary control-table items as
ros2_controlinterfaces, a 110-model control-table database, a realtime diagnostic state publisher, and runtime service access to the control table. Maintaining a second, less capable implementation of the same thing does not serve anyone.docs/migration_to_dynamixel_hardware_interface.mdcovers installation, the URDF conversion from this package's<joint>schema to the official package's parallel<gpio>schema, complete parameter and interface mapping tables, what the migration gains, and — stated plainly — the four things it loses: runtime control-mode switching,use_dummy, Protocol 1.0 servos, and lifecycle-based reconnection. Each has an honest workaround or an honest "none", and there is a section on pinning this package for the two cases that genuinely cannot migrate.No 1.0.0 release will be made; 0.6.1 remains the last one and published binaries stay published. Once this merges, a
ros/rosdistroPR setsstatus: end-of-lifefor all five distros, and this repository is archived read-only after that PR lands.Documentation only, plus one
package.xmldescription string. No code changes.