Merge pull request #74 from ROBOTIS-GIT/feature-noetic-maintenance

maintenance update for TurtleBot3 manipulator on Noetic
ROBOTIS-GIT · Dec 2, 2024 · 227a277 · 227a277
2 parents 0d8e59d + 23ed04e
commit 227a277
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diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
@@ -0,0 +1,52 @@
+name: ros-ci
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+on:
+  push:
+    branches: [ master, develop, melodic-devel, noetic-devel ]
+  pull_request:
+    branches: [ master, develop, melodic-devel, noetic-devel ]
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  master-ci:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          # - kinetic
+          # - melodic
+          - noetic
+        include:
+            # Kinetic Kame (May 2016 - May 2021)
+          # - docker_image: ubuntu:xenial
+          #   ros_distribution: kinetic
+          #   ros_version: 1
+            # Melodic Morenia (May 2018 - May 2023)
+          # - docker_image: ubuntu:bionic
+          #   ros_distribution: melodic
+          #   ros_version: 1
+            # Noetic Ninjemys (May 2020 - May 2025)
+          - docker_image: ubuntu:focal
+            ros_distribution: noetic
+            ros_version: 1
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: Setup directories
+        run: mkdir -p ros_ws/src
+      - name: checkout
+        uses: actions/checkout@v2
+        with:
+          path: ros_ws/src
+      - name: Setup ROS environment
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+      - name: Build and Test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: turtlebot3_manipulation
+          target-ros1-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: ""
diff --git a/.travis.yml b/.travis.yml
diff --git a/README.md b/README.md
@@ -2,13 +2,9 @@
 <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 TurtleBot3 Manipulation
-|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
-|:---:|:---:|:---:|
-|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3_manipulation.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3_manipulation)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation.svg?branch=melodic-devel)](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation)|
 
 ## ROBOTIS e-Manual for TurtleBot3 Manipulation
-- [ROBOTIS e-Manual for TurtleBot3 Manipulation](http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation)
+- [ROBOTIS e-Manual for TurtleBot3 Manipulation](https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation)
 
 ## Wiki for open_manipulator_with_tb3 Packages
 - http://wiki.ros.org/open_manipulator_with_tb3 (metapackage)
@@ -45,7 +41,6 @@
 ## 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 +2,16 @@
 Changelog for package turtlebot3_manipulation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.3 (2024-10-29)
+------------------
+* resolve white color issue on robotic arm in Gazebo
+* Contributors: Wonho Yoon
+
+2.0.3 (2021-12-28)
+------------------
+* fix small trajectory step handling issue(#41)
+* Contributors: nabeya11
+
 2.0.2 (2020-03-06)
 ------------------
 * package name changed from open_manipulator_with_tb3 to turtlebot3_manipulation

diff --git a/turtlebot3_manipulation/package.xml b/turtlebot3_manipulation/package.xml
@@ -1,13 +1,12 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_manipulation</name>
-  <version>2.0.2</version>
+  <version>2.0.3</version>
   <description>ROS packages for turtlebot3_manipulation</description>
 
   <license>Apache 2.0</license>
   <author email="[email protected]">Ryan Shim</author>
-  <maintainer email="[email protected]">Ryan Shim</maintainer>
-  <maintainer email="[email protected]">WIll Son</maintainer>
+  <maintainer email="[email protected]">Pyo</maintainer>
   <!-- <url type="website">http://wiki.ros.org/turtlebot3_manipulation</url> -->
   <url type="emanual">http://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_bringup/package.xml b/turtlebot3_manipulation_bringup/package.xml
@@ -1,12 +1,11 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_manipulation_bringup</name>
-  <version>2.0.2</version>
+  <version>2.0.3</version>
   <description>ROS package for turtlebot3_manipulation_bringup</description>
 
   <license>Apache 2.0</license>
   <author email="[email protected]">Darby Lim</author>
-  <author email="[email protected]">Ryan Shim</author>
   <maintainer email="[email protected]">Pyo</maintainer>
   <!-- <url type="website">http://wiki.ros.org/turtlebot3_manipulation</url> -->
   <url type="emanual">http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation</url>

diff --git a/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp b/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp
@@ -21,13 +21,13 @@
 
 Turtlebot3ManipulationBringup::Turtlebot3ManipulationBringup()
 : nh_(""),
-  arm_action_server_(nh_, 
-    "arm_controller/follow_joint_trajectory", 
-    boost::bind(&Turtlebot3ManipulationBringup::armActionCallback, this, _1), 
+  arm_action_server_(nh_,
+    "arm_controller/follow_joint_trajectory",
+    boost::bind(&Turtlebot3ManipulationBringup::armActionCallback, this, _1),
     false),
-  gripper_action_server_(nh_, 
-    "gripper_controller/follow_joint_trajectory", 
-    boost::bind(&Turtlebot3ManipulationBringup::gripperActionCallback, this, _1), 
+  gripper_action_server_(nh_,
+    "gripper_controller/follow_joint_trajectory",
+    boost::bind(&Turtlebot3ManipulationBringup::gripperActionCallback, this, _1),
     false)
 {
   // Init Publisher
@@ -48,7 +48,12 @@ void Turtlebot3ManipulationBringup::armActionCallback(const control_msgs::Follow
 
   uint32_t jnt_tra_pts_size = jnt_tra.points.size();
   const uint8_t POINTS_STEP_SIZE = 10;
-  uint32_t steps = floor((double)jnt_tra_pts_size/(double)POINTS_STEP_SIZE);
+  if(jnt_tra_pts_size == 0){
+    //received empty trajectory
+    arm_action_server_.setAborted();
+    return;
+  }
+  uint32_t steps = jnt_tra_pts_size/POINTS_STEP_SIZE + 1;
 
   for (uint32_t i = 0; i < jnt_tra_pts_size; i = i + steps)
   {
@@ -58,6 +63,14 @@ void Turtlebot3ManipulationBringup::armActionCallback(const control_msgs::Follow
       jnt_tra_pts.data.push_back(jnt_tra.points[i].positions[j]);
     }
   }
+  if((jnt_tra_pts_size-1) % steps){
+    //set last positions
+    jnt_tra_pts.data.push_back(jnt_tra.points[jnt_tra_pts_size-1].time_from_start.toSec());
+    for (std::vector<uint32_t>::size_type j = 0; j < jnt_tra.points[jnt_tra_pts_size-1].positions.size(); j++)
+    {
+      jnt_tra_pts.data.push_back(jnt_tra.points[jnt_tra_pts_size-1].positions[j]);
+    }
+  }
   joint_trajectory_point_pub_.publish(jnt_tra_pts);
 
   arm_action_server_.setSucceeded();

diff --git a/turtlebot3_manipulation_description/launch/turtlebot3_manipulation_view.launch b/turtlebot3_manipulation_description/launch/turtlebot3_manipulation_view.launch
@@ -6,14 +6,14 @@
   <!-- send robot urdf to param server -->
   <include file="$(find turtlebot3_manipulation_description)/launch/turtlebot3_manipulation_upload.launch">
     <arg name="model" value="$(arg model)"/>
-  </include> 
+  </include>
 
   <!-- start joint state publisher -->
   <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
     <param name="/use_gui" value="$(arg use_gui)"/>
     <rosparam param="source_list">["/joint_states"]</rosparam>
   </node>
-  
+
   <!-- start robot state publisher -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>
 

diff --git a/turtlebot3_manipulation_description/package.xml b/turtlebot3_manipulation_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_manipulation_description</name>
-  <version>2.0.2</version>
+  <version>2.0.3</version>
   <description>ROS package for turtlebot3_manipulation_description</description>
 
   <license>Apache 2.0</license>

diff --git a/turtlebot3_manipulation_description/urdf/open_manipulator_x.gazebo.xacro b/turtlebot3_manipulation_description/urdf/open_manipulator_x.gazebo.xacro
@@ -15,25 +15,25 @@
   </xacro:macro>
 
   <!-- Link1 -->
-  <RefLink ref="link1"/>
+  <xacro:RefLink ref="link1"/>
 
   <!-- Link2 -->
-  <RefLink ref="link2"/>
+  <xacro:RefLink ref="link2"/>
 
   <!-- Link3 -->
-  <RefLink ref="link3"/>
+  <xacro:RefLink ref="link3"/>
 
   <!-- Link4 -->
-  <RefLink ref="link4"/>
+  <xacro:RefLink ref="link4"/>
 
   <!-- Link5 -->
-  <RefLink ref="link5"/>
+  <xacro:RefLink ref="link5"/>
 
   <!-- gripper_link -->
-  <RefLink ref="gripper_link"/>
+  <xacro:RefLink ref="gripper_link"/>
 
   <!-- gripper_link_sub -->
-  <RefLink ref="gripper_link_sub"/>
+  <xacro:RefLink ref="gripper_link_sub"/>
 
   <!-- end effector link -->
   <gazebo reference="end_effector_link">

diff --git a/turtlebot3_manipulation_description/urdf/open_manipulator_x.transmission.xacro b/turtlebot3_manipulation_description/urdf/open_manipulator_x.transmission.xacro
@@ -46,5 +46,5 @@
 
   <!-- Transmission 6 -->
   <xacro:SimpleTransmissionEffort n="6" joint="gripper_sub" />
-  
+
 </robot>
diff --git a/turtlebot3_manipulation_gui/CMakeLists.txt b/turtlebot3_manipulation_gui/CMakeLists.txt
@@ -66,9 +66,9 @@ catkin_package(
   INCLUDE_DIRS include
   CATKIN_DEPENDS
     geometry_msgs
-    roscpp 
-    std_msgs 
-    sensor_msgs 
+    roscpp
+    std_msgs
+    sensor_msgs
     moveit_msgs
     moveit_core
     moveit_ros_planning

diff --git a/turtlebot3_manipulation_gui/package.xml b/turtlebot3_manipulation_gui/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_manipulation_gui</name>
-  <version>2.0.2</version>
+  <version>2.0.3</version>
   <description>ROS package for turtlebot3_manipulation_gui</description>
 
   <license>Apache 2.0</license>

diff --git a/turtlebot3_manipulation_gui/src/main_window.cpp b/turtlebot3_manipulation_gui/src/main_window.cpp
@@ -38,7 +38,7 @@ using namespace Qt;
 *****************************************************************************/
 
 MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
-  : QMainWindow(parent), 
+  : QMainWindow(parent),
     qnode(argc,argv)
 {
   ui.setupUi(this); // Calling this incidentally connects all ui's triggers to on_...() callbacks in this class.
Original file line number	Diff line number	Diff line change
Expand Up		@@ -46,5 +46,5 @@

		<!-- Transmission 6 -->
		<xacro:SimpleTransmissionEffort n="6" joint="gripper_sub" />


		</robot>