Merge pull request #198 from ROBOTIS-GIT/add_internal_dxl2arduino_lib

Updated TB3 lib/core for ROS2 (w. add internal dxl2arduino lib)

arduino/opencr_arduino/opencr/libraries/Dynamixel2Arduino/LICENSE

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arduino/opencr_arduino/opencr/libraries/Dynamixel2Arduino/README.md

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+# Dynamixel2Arduino [![Build Status](https://travis-ci.org/ROBOTIS-GIT/Dynamixel2Arduino.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/Dynamixel2Arduino/branches)
+
+## How to add new DYNAMIXEL model.
+ - For the convenience of the user, Dynamixel2Arduino API hardcodes some information in the control table and stores it in flash.
+ - To do this, you need to add code to some files. In this regard, please refer to [PR#3](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/pull/3) and [PR#7](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/pull/7)
+
+
+## TODO
+ - Separation of protocol codes (protocol, packet handler)

arduino/opencr_arduino/opencr/libraries/Dynamixel2Arduino/keywords.txt

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+###########################################
+# Syntax Coloring Map For Dynamixel2Arduino
+###########################################
+
+###########################################
+# Datatypes (KEYWORD1)
+###########################################
+
+Dynamixel2Arduino	KEYWORD1
+Master	KEYWORD1
+SerialPortHandler	KEYWORD1
+
+###########################################
+# Methods and Functions (KEYWORD2)
+###########################################
+
+# Dynamxiel2Arduino Class
+begin	KEYWORD2
+getPortBaud	KEYWORD2
+ping	KEYWORD2
+scan	KEYWORD2
+getModelNumber	KEYWORD2
+setID	KEYWORD2
+setProtocol	KEYWORD2
+setBaudrate	KEYWORD2
+torqueOn	KEYWORD2
+torqueOff	KEYWORD2
+ledOn	KEYWORD2
+ledOff	KEYWORD2
+setOperatingMode	KEYWORD2
+setGoalPosition	KEYWORD2
+getPresentPosition	KEYWORD2
+setGoalVelocity	KEYWORD2
+getPresentVelocity	KEYWORD2
+setGoalPWM	KEYWORD2
+getPresentPWM	KEYWORD2
+setGoalCurrent	KEYWORD2
+getPresentCurrent	KEYWORD2
+readControlTableItem	KEYWORD2
+writeControlTableItem	KEYWORD2
+
+# Master Class
+setPortProtocolVersion	KEYWORD2
+getPortProtocolVersion	KEYWORD2
+setPort	KEYWORD2
+ping	KEYWORD2
+read	KEYWORD2
+write	KEYWORD2
+writeNoResp	KEYWORD2
+factoryReset	KEYWORD2
+reboot	KEYWORD2
+syncWrite	KEYWORD2
+syncRead	KEYWORD2
+
+# Slave Class (TODO)
+
+###########################################
+# Structures (KEYWORD3)
+###########################################
+
+# Master Class
+ParamForSyncReadInst_t	KEYWORD3
+ParamForSyncWriteInst_t	KEYWORD3
+ParamForBulkReadInst_t	KEYWORD3
+ParamForBulkWriteInst_t	KEYWORD3
+RecvInfoFromPing_t	KEYWORD3
+RecvInfoFromStatusInst_t	KEYWORD3
+
+###########################################
+# Constants (LITERAL1)
+###########################################
+
+# Dynamixel2Arduino Class
+OP_POSITION	LITERAL1
+OP_EXTENDED_POSITION	LITERAL1
+OP_CURRENT_BASED_POSITION	LITERAL1
+OP_VELOCITY	LITERAL1
+OP_PWM	LITERAL1
+OP_CURRENT	LITERAL1
+
+# Dynamixel2Arduino Class
+UNIT_RAW	LITERAL1
+UNIT_PERCENT	LITERAL1
+UNIT_RPM	LITERAL1
+UNIT_DEGREE	LITERAL1
+UNIT_MILLI_AMPERE	LITERAL1
+
+# Actuator.h
+MODEL_NUMBER	LITERAL1
+MODEL_INFORMATION	LITERAL1
+FIRMWARE_VERSION	LITERAL1
+PROTOCOL_VERSION	LITERAL1
+ID	LITERAL1
+SECONDARY_ID	LITERAL1
+BAUD_RATE	LITERAL1
+DRIVE_MODE	LITERAL1
+CONTROL_MODE	LITERAL1
+OPERATING_MODE	LITERAL1
+CW_ANGLE_LIMIT	LITERAL1
+CCW_ANGLE_LIMIT	LITERAL1
+TEMPERATURE_LIMIT	LITERAL1
+MIN_VOLTAGE_LIMIT	LITERAL1
+MAX_VOLTAGE_LIMIT	LITERAL1
+PWM_LIMIT	LITERAL1
+CURRENT_LIMIT	LITERAL1
+VELOCITY_LIMIT	LITERAL1
+MAX_POSITION_LIMIT	LITERAL1
+MIN_POSITION_LIMIT	LITERAL1
+ACCELERATION_LIMIT	LITERAL1
+MAX_TORQUE	LITERAL1
+HOMING_OFFSET	LITERAL1
+MOVING_THRESHOLD	LITERAL1
+MULTI_TURN_OFFSET	LITERAL1
+RESOLUTION_DIVIDER	LITERAL1
+EXTERNAL_PORT_MODE_1	LITERAL1
+EXTERNAL_PORT_MODE_2	LITERAL1
+EXTERNAL_PORT_MODE_3	LITERAL1
+EXTERNAL_PORT_MODE_4	LITERAL1
+STATUS_RETURN_LEVEL	LITERAL1
+RETURN_DELAY_TIME	LITERAL1
+ALARM_LED	LITERAL1
+SHUTDOWN	LITERAL1
+
+TORQUE_ENABLE	LITERAL1
+LED	LITERAL1
+LED_RED	LITERAL1
+LED_GREEN	LITERAL1
+LED_BLUE	LITERAL1
+REGISTERED_INSTRUCTION	LITERAL1
+HARDWARE_ERROR_STATUS	LITERAL1
+VELOCITY_P_GAIN	LITERAL1
+VELOCITY_I_GAIN	LITERAL1
+POSITION_P_GAIN	LITERAL1
+POSITION_I_GAIN	LITERAL1
+POSITION_D_GAIN	LITERAL1
+FEEDFORWARD_1ST_GAIN	LITERAL1
+FEEDFORWARD_2ND_GAIN	LITERAL1
+P_GAIN	LITERAL1
+I_GAIN	LITERAL1
+D_GAIN	LITERAL1
+CW_COMPLIANCE_MARGIN	LITERAL1
+CCW_COMPLIANCE_MARGIN	LITERAL1
+CW_COMPLIANCE_SLOPE	LITERAL1
+CCW_COMPLIANCE_SLOPE	LITERAL1
+GOAL_PWM	LITERAL1
+GOAL_TORQUE	LITERAL1
+GOAL_CURRENT	LITERAL1
+GOAL_POSITION	LITERAL1
+GOAL_VELOCITY	LITERAL1
+GOAL_ACCELERATION	LITERAL1
+MOVING_SPEED	LITERAL1
+PRESENT_PWM	LITERAL1
+PRESENT_LOAD	LITERAL1
+PRESENT_SPEED	LITERAL1
+PRESENT_CURRENT	LITERAL1
+PRESENT_POSITION	LITERAL1
+PRESENT_VELOCITY	LITERAL1
+PRESENT_VOLTAGE	LITERAL1
+PRESENT_TEMPERATURE	LITERAL1
+TORQUE_LIMIT	LITERAL1
+REGISTERED	LITERAL1
+MOVING	LITERAL1
+LOCK	LITERAL1
+PUNCH	LITERAL1
+CURRENT	LITERAL1
+SENSED_CURRENT	LITERAL1
+REALTIME_TICK	LITERAL1
+TORQUE_CTRL_MODE_ENABLE	LITERAL1
+BUS_WATCHDOG	LITERAL1
+PROFILE_ACCELERATION	LITERAL1
+PROFILE_VELOCITY	LITERAL1
+MOVING_STATUS	LITERAL1
+VELOCITY_TRAJECTORY	LITERAL1
+POSITION_TRAJECTORY	LITERAL1
+PRESENT_INPUT_VOLTAGE	LITERAL1
+EXTERNAL_PORT_DATA_1	LITERAL1
+EXTERNAL_PORT_DATA_2	LITERAL1
+EXTERNAL_PORT_DATA_3	LITERAL1
+EXTERNAL_PORT_DATA_4	LITERAL1