- C++11
- Support additional states and commands
- Operating mode can be associated with not only a controller but also a controller group
- Skip reading effort when actuator does not offer
- Fix the unit of effort (mNm to Nm)
- Write an item map on enabling the current based position mode
- Freeze position command if velocity command is 0
- Refactored operating modes
- Reject unfeasible controller switching in advance
- Updated example & README
- Initial version
- Tested single_dynamixel_example.launch with XM540-W270-R
- Contributors: Yoshito Okada