Merge pull request #131 from ROBOTIS-GIT/feature-update-sdk

Update Dynamixel SDK in container environment

Author: GyuH13

docker/docker-compose.yml

@@ -1,7 +1,7 @@
 services:
   ai_worker:
     container_name: ai_worker
-    image: robotis/ai-worker:2.2.6
+    image: robotis/ai-worker:2.2.7
     tty: true
     restart: always
     cap_add:

ffw/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package ffw
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.7 (2026-09-14)
+------------------
+* Updated Dynamixel SDK in Docker container environment
+* Changed serial buffer reading in the Dynamixel SDK from a busy loop using `read()` to a `poll()`-based approach with a maximum wait time of 1 ms.
+* Contributors: Hyungyu Kim
+
 2.2.6 (2026-09-04)
 ------------------
 * Updated BH5 and SH5 urdf xacro

ffw/package.xml

@@ -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>ffw</name>
-  <version>2.2.6</version>
+  <version>2.2.7</version>
   <description>
     ROS 2 meta package for FFW
   </description>

ffw_bringup/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package ffw_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.7 (2026-09-14)
+------------------
+* None
+
 2.2.6 (2026-09-04)
 ------------------
 * None

ffw_bringup/package.xml

@@ -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>ffw_bringup</name>
-  <version>2.2.6</version>
+  <version>2.2.7</version>
   <description>
     ROS 2 launch scripts for starting the FFW
   </description>

ffw_bringup/setup.py

@@ -14,7 +14,7 @@
 
 setup(
     name=package_name,
-    version='2.2.6',
+    version='2.2.7',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages',

ffw_description/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package ffw_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.7 (2026-09-14)
+------------------
+* None
+
 2.2.6 (2026-09-04)
 ------------------
 * Updated BH5 and SH5 urdf xacro

ffw_description/package.xml

@@ -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>ffw_description</name>
-  <version>2.2.6</version>
+  <version>2.2.7</version>
   <description>
     3D models of the FFW for simulation and visualization
   </description>

ffw_joint_trajectory_command_broadcaster/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package ffw_joint_trajectory_command_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.7 (2026-09-14)
+------------------
+* None
+
 2.2.6 (2026-09-04)
 ------------------
 * None

ffw_joint_trajectory_command_broadcaster/package.xml

@@ -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>ffw_joint_trajectory_command_broadcaster</name>
-  <version>2.2.6</version>
+  <version>2.2.7</version>
   <description>
     Joint Trajectory Command Broadcaster ROS 2 package.
   </description>