Merge pull request #73 from ROBOTIS-GIT/humble-teleop

Updated on TurtleBot3_Manipulation maintenance
ROBOTIS-GIT · Dec 2, 2024 · 7f987a6 · 7f987a6
2 parents 3baa265 + 4eff28c
commit 7f987a6
Show file tree

Hide file tree

Showing 29 changed files with 176 additions and 171 deletions.
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
@@ -15,20 +15,10 @@ jobs:
       fail-fast: false
       matrix:
         ros_distribution:
-          # - foxy
-          # - galactic
           - humble
           # - rolling
         include:
-          #   # Foxy Fitzroy (June 2020 - May 2023)
-          # - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
-          #   ros_distribution: foxy
-          #   ros_version: 2
-          #   # Galactic Geochelone (May 2021)
-          # - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
-          #   ros_distribution: galactic
-          #   ros_version: 2
-            # Humble Hawksbill (May 2027)
+          # Humble Hawksbill (May 2027)
           - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
             ros_distribution: humble
             ros_version: 2
@@ -50,4 +40,4 @@ jobs:
         with:
           package-name: turtlebot3_manipulation
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: ""
+          vcs-repo-file-url: ""
diff --git a/README.md b/README.md
@@ -2,11 +2,6 @@
 <img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/turtlebot3/manipulation/tb3_with_opm_logo.png">
 <img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/turtlebot3/manipulation/hardware_setup.png">
 
-## ROS Packages for OpenManipulator with TurtleBot3
-|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
-|:---:|:---:|:---:|
-|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2Fopen_manipulator_with_tb3.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2Fopen_manipulator_with_tb3)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/open_manipulator_with_tb3.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/open_manipulator_with_tb3)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/open_manipulator_with_tb3.svg?branch=melodic-devel)](https://travis-ci.org/ROBOTIS-GIT/open_manipulator_with_tb3)|
-
 ## ROBOTIS e-Manual for OpenManipulator with TurtleBot3
 - [ROBOTIS e-Manual for OpenManipulator with TurtleBot3](http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation)
 
@@ -45,7 +40,6 @@
 ## Documents and Videos related to OpenManipulator with TurtleBot3
 - [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/)
 - [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
-- [ROBOTIS e-Manual for ROBOTIS MANIPULATOR-H](http://emanual.robotis.com/docs/en/platform/manipulator_h/introduction/)
 - [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
 - [ROBOTIS e-Manual for Dynamixel Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
 - [e-Book for TurtleBot3 and OpenManipulator](https://community.robotsource.org/t/download-the-ros-robot-programming-book-for-free/51/)

diff --git a/turtlebot3_manipulation/CHANGELOG.rst b/turtlebot3_manipulation/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package turtlebot3_manipulation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2024-12-02)
+------------------
+* Added gripper control in teleoperation.
+* Resolved the issue where teleoperation was not functioning on the actual robot.
+* Fixed the intermittent issue of Gazebo not launching.
+* Fixed the error log related to the mimic joint.
+* Contributors: Sungho Woo
+
 2.1.1 (2022-10-14)
 ------------------
 * Support ROS2 Humble

diff --git a/turtlebot3_manipulation/package.xml b/turtlebot3_manipulation/package.xml
@@ -2,17 +2,18 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_manipulation</name>
-  <version>2.1.1</version>
+  <version>2.2.0</version>
   <description>
     ROS 2 package for turtlebot3_manipulation
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/issues</url>
   <author email="[email protected]">Darby Lim</author>
   <author email="[email protected]">Hye-jong KIM</author>
+  <author email="[email protected]">Sungho Woo</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>turtlebot3_manipulation_bringup</exec_depend>
   <exec_depend>turtlebot3_manipulation_cartographer</exec_depend>

diff --git a/turtlebot3_manipulation_bringup/CHANGELOG.rst b/turtlebot3_manipulation_bringup/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_manipulation_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2024-12-02)
+------------------
+* Updated maintainer information
+* Contributors: Sungho Woo
+
 2.1.1 (2022-10-14)
 ------------------
 * Support ROS2 Humble

diff --git a/turtlebot3_manipulation_bringup/package.xml b/turtlebot3_manipulation_bringup/package.xml
@@ -2,11 +2,11 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_manipulation_bringup</name>
-  <version>2.1.1</version>
+  <version>2.2.0</version>
   <description>
     ROS 2 package for turtlebot3_manipulation
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>

diff --git a/turtlebot3_manipulation_cartographer/CHANGELOG.rst b/turtlebot3_manipulation_cartographer/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_manipulation_cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2024-12-02)
+------------------
+* Updated maintainer information
+* Contributors: Sungho Woo
+
 2.1.1 (2022-10-14)
 ------------------
 * Support ROS2 Humble

diff --git a/turtlebot3_manipulation_cartographer/package.xml b/turtlebot3_manipulation_cartographer/package.xml
@@ -2,11 +2,11 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_manipulation_cartographer</name>
-  <version>2.1.1</version>
+  <version>2.2.0</version>
   <description>
     ROS 2 launch scripts for cartographer
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>

diff --git a/turtlebot3_manipulation_description/CHANGELOG.rst b/turtlebot3_manipulation_description/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package turtlebot3_manipulation_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2024-12-02)
+------------------
+* Fixed the intermittent issue of Gazebo not launching
+* Fixed the error log related to the mimic joint.
+* Contributors: Sungho Woo
+
 2.1.1 (2022-10-14)
 ------------------
 * Support ROS2 Humble

diff --git a/turtlebot3_manipulation_description/package.xml b/turtlebot3_manipulation_description/package.xml
@@ -2,17 +2,18 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_manipulation_description</name>
-  <version>2.1.1</version>
+  <version>2.2.0</version>
   <description>
     ROS 2 package for turtlebot3_manipulation_description
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/issues</url>
   <author email="[email protected]">Darby Lim</author>
   <author email="[email protected]">Hye-jong KIM</author>
+  <author email="[email protected]">Sungho Woo</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>

diff --git a/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro b/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro
@@ -24,7 +24,7 @@ https://github.com/ROBOTIS-GIT/open_manipulator/blob/kinetic-devel/open_manipula
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="${meshes_file_direction}/link1.stl" scale="0.001 0.001 0.001"/>
+          <box size="0.05 0.05 0.05"/>
         </geometry>
       </collision>
 
@@ -207,6 +207,12 @@ https://github.com/ROBOTIS-GIT/open_manipulator/blob/kinetic-devel/open_manipula
       </inertial>
     </link>
 
+    <joint name="${prefix}gripper_right_joint_mimic" type="fixed">
+      <parent link="${prefix}link5" />
+      <child link="dummy_mimic_fix" />
+    </joint>
+    <link name="dummy_mimic_fix"/>
+
     <joint name="${prefix}gripper_right_joint" type="prismatic">
       <parent link="${prefix}link5"/>
       <child link="${prefix}gripper_right_link"/>

diff --git a/turtlebot3_manipulation_hardware/CHANGELOG.rst b/turtlebot3_manipulation_hardware/CHANGELOG.rst
@@ -2,10 +2,15 @@
 Changelog for package turtlebot3_manipulation_hardware
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2024-12-02)
+------------------
+* Resolved the issue where teleoperation was not functioning on the actual robot
+* Contributors: Sungho Woo
+
 2.1.1 (2022-10-14)
 ------------------
 * Support ROS2 Humble
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
-* Contributors: Hye-Jong KIM, Darby Lim, Will Son
+* Contributors: Hye-Jong KIM, Darby Lim, Will Son
diff --git a/turtlebot3_manipulation_hardware/package.xml b/turtlebot3_manipulation_hardware/package.xml
@@ -2,16 +2,17 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_manipulation_hardware</name>
-  <version>2.1.1</version>
+  <version>2.2.0</version>
   <description>
     ROS 2 package for turtlebot3_manipulation_hardware
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/issues</url>
   <author email="[email protected]">Darby Lim</author>
+  <author email="[email protected]">Sungho Woo</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>dynamixel_sdk</depend>
   <depend>hardware_interface</depend>

diff --git a/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp b/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp
@@ -94,9 +94,9 @@ hardware_interface::CallbackReturn TurtleBot3ManipulationSystemHardware::on_init
 
   dxl_joint_commands_.resize(4, 0.0);
   dxl_joint_commands_[0] = 0.0;
-  dxl_joint_commands_[1] = -1.57;
-  dxl_joint_commands_[2] = 1.37;
-  dxl_joint_commands_[3] = 0.26;
+  dxl_joint_commands_[1] = -1.05;
+  dxl_joint_commands_[2] = 1.05;
+  dxl_joint_commands_[3] = 0.0;
 
   dxl_gripper_commands_.resize(2, 0.0);
 

diff --git a/turtlebot3_manipulation_moveit_config/.setup_assistant b/turtlebot3_manipulation_moveit_config/.setup_assistant
@@ -22,4 +22,4 @@ moveit_setup_assistant_config:
       - position
     state:
       - position
-      - velocity
+      - velocity
diff --git a/turtlebot3_manipulation_moveit_config/CHANGELOG.rst b/turtlebot3_manipulation_moveit_config/CHANGELOG.rst
@@ -2,10 +2,15 @@
 Changelog for package turtlebot3_manipulation_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2024-12-02)
+------------------
+* Resolved the issue where teleoperation was not functioning on the actual robot
+* Contributors: Sungho Woo
+
 2.1.1 (2022-10-14)
 ------------------
 * Support ROS2 Humble
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
-* Contributors: Hye-Jong KIM, Darby Lim, Will Son
+* Contributors: Hye-Jong KIM, Darby Lim, Will Son
diff --git a/turtlebot3_manipulation_moveit_config/config/kinematics.yaml b/turtlebot3_manipulation_moveit_config/config/kinematics.yaml
@@ -2,4 +2,4 @@ arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.05
-  position_only_ik: false
+  position_only_ik: True
diff --git a/turtlebot3_manipulation_moveit_config/config/moveit_controllers.yaml b/turtlebot3_manipulation_moveit_config/config/moveit_controllers.yaml
@@ -17,4 +17,3 @@ gripper_controller:
   default: true
   joints:
     - gripper_left_joint
-
diff --git a/turtlebot3_manipulation_moveit_config/config/turtlebot3_manipulation.srdf b/turtlebot3_manipulation_moveit_config/config/turtlebot3_manipulation.srdf
@@ -94,9 +94,11 @@
     <disable_collisions link1="link1" link2="wheel_left_link" reason="Never"/>
     <disable_collisions link1="link1" link2="wheel_right_link" reason="Never"/>
     <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
+    <disable_collisions link1="link2" link2="link4" reason="Adjacent"/>
     <disable_collisions link1="link2" link2="wheel_left_link" reason="Never"/>
     <disable_collisions link1="link2" link2="wheel_right_link" reason="Never"/>
     <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
+    <disable_collisions link1="link3" link2="link5" reason="Never"/>
     <disable_collisions link1="link3" link2="wheel_left_link" reason="Never"/>
     <disable_collisions link1="link3" link2="wheel_right_link" reason="Never"/>
     <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>

diff --git a/turtlebot3_manipulation_moveit_config/launch/move_group.launch.py b/turtlebot3_manipulation_moveit_config/launch/move_group.launch.py
@@ -96,7 +96,7 @@ def generate_launch_description():
         "moveit_manage_controllers": True,
         "trajectory_execution.allowed_execution_duration_scaling": 1.2,
         "trajectory_execution.allowed_goal_duration_margin": 0.5,
-        "trajectory_execution.allowed_start_tolerance": 0.01,
+        "trajectory_execution.allowed_start_tolerance": 0.05,
     }
 
     # Moveit Controllers
@@ -120,13 +120,15 @@ def generate_launch_description():
         "publish_geometry_updates": True,
         "publish_state_updates": True,
         "publish_transforms_updates": True,
+        "publish_robot_description": True,
+        "publish_robot_description_semantic": True
     }
 
     ld = LaunchDescription()
     use_sim = LaunchConfiguration('use_sim')
     declare_use_sim = DeclareLaunchArgument(
         'use_sim',
-        default_value='false',
+        default_value='true',
         description='Start robot in Gazebo simulation.')
     ld.add_action(declare_use_sim)
 

diff --git a/turtlebot3_manipulation_moveit_config/launch/setup_assistant.launch.py b/turtlebot3_manipulation_moveit_config/launch/setup_assistant.launch.py
@@ -23,4 +23,4 @@
 def generate_launch_description():
     moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation",
     package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs()
-    return generate_setup_assistant_launch(moveit_config)
+    return generate_setup_assistant_launch(moveit_config)
diff --git a/turtlebot3_manipulation_moveit_config/package.xml b/turtlebot3_manipulation_moveit_config/package.xml
@@ -2,16 +2,17 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_manipulation_moveit_config</name>
-  <version>2.1.1</version>
+  <version>2.2.0</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the turtlebot3_manipulation with the MoveIt Motion Planning Framework
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>BSD</license>
   <url type="website">http://moveit.ros.org/</url>
   <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
   <url type="repository">https://github.com/ros-planning/moveit2</url>
   <author email="[email protected]">Hye-jong KIM</author>
+  <author email="[email protected]">Sungho Woo</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>moveit_ros_move_group</exec_depend>

diff --git a/turtlebot3_manipulation_navigation2/CHANGELOG.rst b/turtlebot3_manipulation_navigation2/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_manipulation_navigation2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2024-12-02)
+------------------
+* Updated maintainer information
+* Contributors: Sungho Woo
+
 2.1.1 (2022-10-14)
 ------------------
 * Support ROS2 Humble

diff --git a/turtlebot3_manipulation_navigation2/package.xml b/turtlebot3_manipulation_navigation2/package.xml
@@ -2,11 +2,11 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_manipulation_navigation2</name>
-  <version>2.1.1</version>
+  <version>2.2.0</version>
   <description>
     ROS 2 launch scripts for navigation2
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <author email="[email protected]">Darby Lim</author>
   <author email="[email protected]">Pyo</author>

diff --git a/turtlebot3_manipulation_teleop/CHANGELOG.rst b/turtlebot3_manipulation_teleop/CHANGELOG.rst
@@ -2,10 +2,15 @@
 Changelog for package turtlebot3_manipulation_teleop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2024-12-02)
+------------------
+* Added gripper control in teleoperation
+* Contributors: Sungho Woo
+
 2.1.1 (2022-10-14)
 ------------------
 * Support ROS2 Humble
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
-* Contributors: Hye-Jong KIM, Darby Lim, Will Son
+* Contributors: Hye-Jong KIM, Darby Lim, Will Son
Original file line number	Diff line number	Diff line change
Expand Up		@@ -17,4 +17,3 @@ gripper_controller:
		default: true
		joints:
		- gripper_left_joint