Merge pull request #780 from ROBOTIS-GIT/ros2-devel

Ros2 devel
ROBOTIS-GIT · Sep 3, 2021 · ed29412 · ed29412
2 parents ea35d4b + 27891ff
commit ed29412
Show file tree

Hide file tree

Showing 36 changed files with 185 additions and 163 deletions.
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
@@ -9,39 +9,16 @@ on:
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
-  ament_lint_bionic:
-    runs-on: ubuntu-18.04
-    strategy:
-      fail-fast: false
-      matrix:
-        linter: [copyright, cppcheck, cpplint, uncrustify, pep8, pep257, xmllint]
-        distribution: [dashing]
-    steps:
-      - uses: actions/checkout@v2
-      - uses: ros-tooling/setup-ros@0.1.2
-      - uses: ros-tooling/action-ros-lint@0.0.6
-        with:
-          distribution: ${{ matrix.distribution }}
-          linter: ${{ matrix.linter }}
-          package-name: |
-            turtlebot3
-            turtlebot3_bringup
-            turtlebot3_cartographer
-            turtlebot3_description
-            turtlebot3_example
-            turtlebot3_navigation2
-            turtlebot3_node
-            turtlebot3_teleop
   ament_lint_focal:
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
       matrix:
         linter: [copyright, cppcheck, cpplint, uncrustify, pep257, xmllint] #todo : flake8 
-        distribution: [foxy]
+        distribution: [foxy, galactic, rolling]
     steps:
       - uses: actions/checkout@v2
-      - uses: ros-tooling/setup-ros@0.1.2
+      - uses: ros-tooling/setup-ros@0.2.1
       - uses: ros-tooling/action-ros-lint@0.0.6
         with:
           distribution: ${{ matrix.distribution }}

diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
@@ -3,9 +3,9 @@ name: ros2
 # Controls when the action will run. Triggers the workflow on push or pull request
 on:
   push:
-    branches: [ ros2 ]
+    branches: [ ros2, ros2-devel ]
   pull_request:
-    branches: [ ros2 ]
+    branches: [ ros2, ros2-devel ]
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
@@ -46,7 +46,7 @@ jobs:
         with:
           path: ros_ws/src
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@0.1.2
+        uses: ros-tooling/setup-ros@0.2.1
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
       - name: Build and Test

diff --git a/ISSUE_TEMPLATE.md b/ISSUE_TEMPLATE.md
@@ -1,50 +1,48 @@
-ISSUE TEMPLATE ver. 0.4.0
+ISSUE TEMPLATE ver. 0.4.1
+
+**Please note that we do not provide support for programming source codes or modifying the hardware.**
 
 1. Which TurtleBot3 you have?
 
     - [ ] Burger
-    - [ ] Waffle
     - [ ] Waffle Pi
 
 2. Which SBC(Single Board Computer) is installed on TurtleBot3?
 
     - [ ] Raspberry Pi 3
-    - [ ] Raspberry Pi 4
-    - [ ] Intel Joule 570x
-    - [ ] etc (PLEASE, WRITE DOWN YOUR SBC HERE)
+    - [ ] Raspberry Pi 4 (specify RAM size: 2/4/8GB)
+    - [ ] Jetson Nano
+    - [ ] other (PLEASE, WRITE DOWN YOUR SBC HERE)
 
 3. Which OS is installed on the TurtleBot3 SBC?
 
-    - [ ] Raspbian recovery image for ROS 1 Kinetic (Provided by ROBOTIS)
-    - [ ] Ubuntu preinstalled server 18.04.1 or later
-    - [ ] Ubuntu preinstalled server 20.04.1 or later
-    - [ ] etc (PLEASE, WRITE DOWN YOUR OS)
+    - [ ] Raspberry Pi recovery image (Provided by ROBOTIS via eManual)
+    - [ ] Ubuntu preinstalled server 18.04
+    - [ ] Ubuntu preinstalled server 20.04
+    - [ ] other (PLEASE, WRITE DOWN YOUR OS)
 
 4. Which ROS version is running on TurtleBot3?
 
-    - [ ] ROS 1 Kinetic Kame
-    - [ ] ROS 1 Melodic Morenia
-    - [ ] ROS 1 Noetic Ninjemys
-    - [ ] ROS 2 Dashing Diademata
-    - [ ] ROS 2 Eloquent Elusor
+    - [ ] ROS Kinetic Kame (EOL)
+    - [ ] ROS Melodic Morenia
+    - [ ] ROS Noetic Ninjemys
+    - [ ] ROS 2 Dashing Diademata (EOL)
+    - [ ] ROS 2 Eloquent Elusor (EOL)
     - [ ] ROS 2 Foxy Fitzroy
-    - [ ] etc (PLEASE, WRITE DOWN YOUR ROS VERSION HERE)
+    - [ ] ROS 2 Galactic Geochelone
+    - [ ] ROS 2 Rolling Ridley
 
 5. Which OS is installed on Remote PC?
 
     - [ ] Ubuntu 16.04 LTS (Xenial Xerus)
     - [ ] Ubuntu 18.04 LTS (Bionic Beaver)
     - [ ] Ubuntu 20.04 LTS (Focal Fossa)
-    - [ ] etc (PLEASE, WRITE DOWN YOUR OS)
-
-6. Steps to reproduce the issue
+    - [ ] other (PLEASE, WRITE DOWN YOUR OS)
 
-    - 
+6. Please describe the issue.
 
-7. Paste error messages printed on the screen
 
-    - 
+7. Copy & paste error messages printed on the screen. Screenshots or video clips are welcome.
 
-9. Describe the issue in detail
 
-    - HERE
+8. How to reproduce the issue?
diff --git a/README.md b/README.md
@@ -2,15 +2,13 @@
 <img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
 
 [![kinetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/kinetic-devel)
-
 [![melodic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/melodic-devel)
-
 [![noetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/noetic-devel)
 
 [![dashing-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/dashing-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/dashing-devel)
-
 [![foxy-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/foxy-devel)
-
+[![galactic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/galactic-devel)
+[![rolling(ros2 branch) Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/ros2/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/ros2)
 ## ROBOTIS e-Manual for TurtleBot3
 - [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
 

diff --git a/turtlebot3/CHANGELOG.rst b/turtlebot3/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package turtlebot3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* fix ambiguous ParameterValue calls (#748, #736)
+* fix RViz2 Cartographer default config
+* Contributors: m2-farzan, Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * use static param types for Galactic

diff --git a/turtlebot3/package.xml b/turtlebot3/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>turtlebot3</name>
-  <version>2.1.2</version>
+  <version>2.1.3</version>
   <description>
     ROS 2 packages for TurtleBot3
   </description>

diff --git a/turtlebot3_bringup/CHANGELOG.rst b/turtlebot3_bringup/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package turtlebot3_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* fix ambiguous ParameterValue calls (#748, #736)
+* Contributors: m2-farzan, Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * rename nav2 params

diff --git a/turtlebot3_bringup/CMakeLists.txt b/turtlebot3_bringup/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(ament_cmake REQUIRED)
 # Install
 ################################################################################
 install(
-  DIRECTORY launch param
+  DIRECTORY launch param script
   DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/turtlebot3_bringup/package.xml b/turtlebot3_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>turtlebot3_bringup</name>
-  <version>2.1.2</version>
+  <version>2.1.3</version>
   <description>
     ROS 2 launch scripts for starting the TurtleBot3
   </description>

diff --git a/turtlebot3_bringup/param/burger.yaml b/turtlebot3_bringup/param/burger.yaml
@@ -18,14 +18,11 @@ turtlebot3_node:
       profile_acceleration: 0.0
 
     sensors:
-      bumper_1: false
-      bumper_2: false
-
-      illumination: false
-
-      ir: false
-
-      sonar: false
+      bumper_1: 0
+      bumper_2: 0
+      illumination: 0
+      ir: 0
+      sonar: 0
 
 diff_drive_controller:
   ros__parameters:

diff --git a/turtlebot3_bringup/param/waffle.yaml b/turtlebot3_bringup/param/waffle.yaml
@@ -18,14 +18,11 @@ turtlebot3_node:
       profile_acceleration: 0.0
 
     sensors:
-      bumper_1: false
-      bumper_2: false
-
-      illumination: false
-
-      ir: false
-
-      sonar: false
+      bumper_1: 0
+      bumper_2: 0
+      illumination: 0
+      ir: 0
+      sonar: 0
 
 diff_drive_controller:
   ros__parameters:

diff --git a/turtlebot3_bringup/param/waffle_pi.yaml b/turtlebot3_bringup/param/waffle_pi.yaml
@@ -18,14 +18,11 @@ turtlebot3_node:
       profile_acceleration: 0.0
 
     sensors:
-      bumper_1: false
-      bumper_2: false
-
-      illumination: false
-
-      ir: false
-
-      sonar: false
+      bumper_1: 0
+      bumper_2: 0
+      illumination: 0
+      ir: 0
+      sonar: 0
 
 diff_drive_controller:
   ros__parameters:

diff --git a/turtlebot3_bringup/99-turtlebot3-cdc.rules → ...t3_bringup/script/99-turtlebot3-cdc.rules b/turtlebot3_bringup/99-turtlebot3-cdc.rules → ...t3_bringup/script/99-turtlebot3-cdc.rules
diff --git a/turtlebot3_bringup/script/create_udev_rules b/turtlebot3_bringup/script/create_udev_rules
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+echo ""
+echo "This script copies a udev rule to /etc to facilitate bringing"
+echo "up the turtlebot3 usb connection."
+echo ""
+
+sudo cp `sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
+
+echo ""
+echo "Reload rules"
+echo ""
+sudo udevadm control --reload-rules
+sudo udevadm trigger
diff --git a/turtlebot3_cartographer/CHANGELOG.rst b/turtlebot3_cartographer/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package turtlebot3_cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* fix RViz2 Cartographer default config
+* Contributors: Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * rename nav2 params

diff --git a/turtlebot3_cartographer/package.xml b/turtlebot3_cartographer/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>turtlebot3_cartographer</name>
-  <version>2.1.2</version>
+  <version>2.1.3</version>
   <description>
     ROS 2 launch scripts for cartographer
   </description>

diff --git a/turtlebot3_cartographer/rviz/tb3_cartographer.rviz b/turtlebot3_cartographer/rviz/tb3_cartographer.rviz
@@ -4,10 +4,7 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
         - /TF1/Frames1
-        - /LaserScan1
-        - /Cartographer1
       Splitter Ratio: 0.5794117450714111
     Tree Height: 785
   - Class: rviz_common/Selection
@@ -356,8 +353,8 @@ Visualization Manager:
           Position Transformer: XYZ
           Selectable: true
           Size (Pixels): 3
-          Size (m): 0.009999999776482582
-          Style: Points
+          Size (m): 0.03
+          Style: Tiles
           Topic:
             Depth: 5
             Durability Policy: Volatile
@@ -445,26 +442,21 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rviz_default_plugins/Orbit
-      Distance: 6.2725830078125
+      Angle: -1.5707999467849731
+      Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Focal Point:
-        X: 1.4347907304763794
-        Y: 0.42844799160957336
-        Z: 0.801936149597168
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.17479735612869263
+      Scale: 86.12762451171875
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 3.795415163040161
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 1.165248990058899
+      Y: 0.4727824032306671
     Saved: ~
 Window Geometry:
   Displays:

diff --git a/turtlebot3_description/CHANGELOG.rst b/turtlebot3_description/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* Contributors: Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * None

diff --git a/turtlebot3_description/package.xml b/turtlebot3_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>turtlebot3_description</name>
-  <version>2.1.2</version>
+  <version>2.1.3</version>
   <description>
     3D models of the TurtleBot3 for simulation and visualization
   </description>

diff --git a/turtlebot3_example/CHANGELOG.rst b/turtlebot3_example/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* Contributors: Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * None