How to use bulk_read in dynamixel_control_hw?

[naoki-mizuno]

I've been trying to implement bulk_read in dynamixel_control_hw, but couldn't figure out how to use the newly implemented methods.

I'm trying to create a BulkRead instruction packet (somewhere in read_joints) using get_##Name, but since DynamixelHardwareInterface only has access to its member variables of type BaseServo, I'm not sure if it's possible to use get_present_position(std::vector<id_t>) and get_present_speed(std::vector<id_t>), which are defined in Servo<Model>, the derived class of BaseServo.

If you could give me some pointers on how I can work this around, it would be great!

[dogoepp]

I'm working on it. I think I should add the virtual method to BaseServo.