Merge pull request #80 from ROBOTIS-GIT/bump-2.2.0

robotpilot · web-flow · commit 09a40a27e146 · 2025-04-01T19:10:18.000+09:00
Bump 2.2.0
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
@@ -1,43 +1,66 @@
-name: humble-devel
+# The name of the workflow
+name: CI
 
-# Controls when the action will run. Triggers the workflow on push or pull request
+# Specifies the events that trigger the workflow
 on:
   push:
-    branches: [ humble-devel ]
+    branches: [ humble, jazzy, main ]
   pull_request:
-    branches: [ humble-devel ]
+    branches: [ humble, jazzy, main ]
 
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+# Defines a set of jobs to be run as part of the workflow
 jobs:
-  ros2-ci:
-    runs-on: ubuntu-latest
+  # The name of the job
+  ROS_CI:
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
         ros_distribution:
           - humble
-          # - rolling
+          - jazzy
+          - rolling
         include:
-          # Humble Hawksbill (May 2027)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+          # ROS 2 Humble Hawksbill
+          - docker_image: ubuntu:jammy
             ros_distribution: humble
             ros_version: 2
-          #   # Rolling
-          # - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
-          #   ros_distribution: rolling
-          #   ros_version: 2
+          # ROS 2 Jazzy Jalisco
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ros_version: 2
+          # ROS 2 Rolling Ridley
+          - docker_image: ubuntu:noble
+            ros_distribution: rolling
+            ros_version: 2
     container:
       image: ${{ matrix.docker_image }}
     steps:
-      - name: Setup directories
+      - name: Setup workspace
         run: mkdir -p ros_ws/src
-      - name: checkout
-        uses: actions/checkout@v2
+
+      - name: Checkout code
+        uses: actions/checkout@v4
         with:
           path: ros_ws/src
+
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
       - name: Build and Test
-        uses: ros-tooling/action-ros-ci@0.2.6
+        uses: ros-tooling/action-ros-ci@v0.3
+
         with:
-          package-name: turtlebot3_manipulation
           target-ros2-distro: ${{ matrix.ros_distribution }}
           vcs-repo-file-url: ""
+          package-name: |
+            turtlebot3_manipulation
+            turtlebot3_manipulation_bringup
+            turtlebot3_manipulation_cartographer
+            turtlebot3_manipulation_description
+            turtlebot3_manipulation_hardware
+            turtlebot3_manipulation_moveit_config
+            turtlebot3_manipulation_navigation2
+            turtlebot3_manipulation_teleop
diff --git a/README.md b/README.md
@@ -1,47 +1,43 @@
-# OpenManipulator with TurtleBot3
-<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">
+# TurtleBot3 with OpenMANIPULATOR
+<img src="https://raw.githubusercontent.com/ROBOTIS-GIT/emanual/master/assets/images/platform/turtlebot3/manipulation/tb3_with_opm_logo.png" width="500">
 
-## ROBOTIS e-Manual for OpenManipulator with TurtleBot3
-- [ROBOTIS e-Manual for OpenManipulator with TurtleBot3](http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation)
+<img src="https://raw.githubusercontent.com/ROBOTIS-GIT/emanual/master/assets/images/platform/turtlebot3/manipulation/hardware_setup.png" width="500">
 
-## Wiki for open_manipulator_with_tb3 Packages
-- http://wiki.ros.org/open_manipulator_with_tb3 (metapackage)
-- http://wiki.ros.org/open_manipulator_with_tb3_description
-- http://wiki.ros.org/open_manipulator_with_tb3_tools
-- http://wiki.ros.org/open_manipulator_with_tb3_waffle_moveit
-- http://wiki.ros.org/open_manipulator_with_tb3_waffle_pi_moveit
+- Active Branches: noetic, humble, jazzy, main(rolling)
+- Legacy Branches: *-devel
 
-## Open Source related to OpenManipulator with TurtleBot3
-- [robotis_manipulator](https://github.com/ROBOTIS-GIT/robotis_manipulator)
-- [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator)
-- [open_manipulator_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_msgs)
-- [open_manipulator_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_simulations)
-- [open_manipulator_perceptions](https://github.com/ROBOTIS-GIT/open_manipulator_perceptions)
-- [open_manipulator_processing](https://github.com/ROBOTIS-GIT/open_manipulator_processing)
-- [open_manipulator_friends](https://github.com/ROBOTIS-GIT/open_manipulator_friends)
-- [open_manipulator_with_tb3](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3)
-- [open_manipulator_with_tb3_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_msgs)
-- [open_manipulator_with_tb3_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_simulations)
+## Open Source Projects Related to TurtleBot3 and OpenMANIPULATOR
 - [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3)
 - [turtlebot3_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_msgs)
 - [turtlebot3_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_simulations)
+- [turtlebot3_manipulation](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation)
+- [turtlebot3_manipulation_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations)
 - [turtlebot3_applications](https://github.com/ROBOTIS-GIT/turtlebot3_applications)
 - [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs)
+- [turtlebot3_machine_learning](https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning)
 - [turtlebot3_autorace](https://github.com/ROBOTIS-GIT/turtlebot3_autorace)
-- [turtlebot3_deliver](https://github.com/ROBOTIS-GIT/turtlebot3_deliver)
+- [turtlebot3_home_service_challenge](https://github.com/ROBOTIS-GIT/turtlebot3_home_service_challenge)
 - [hls_lfcd_lds_driver](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver)
-- [manipulator_h](https://github.com/ROBOTIS-GIT/ROBOTIS-MANIPULATOR-H)
+- [ld08_driver](https://github.com/ROBOTIS-GIT/ld08_driver)
+- [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator)
 - [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
-- [dynamixel_workbench](https://github.com/ROBOTIS-GIT/dynamixel-workbench)
 - [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
 - [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
 
-## 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 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/)
-- [Videos for OpenManipulator](https://www.youtube.com/playlist?list=PLRG6WP3c31_WpEsB6_Rdt3KhiopXQlUkb)
-- [Videos for TurtleBot3 and OpenManipulator](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU)
+## Documentation, Videos, and Community
+
+### Official Documentation
+- ⚙️ **[ROBOTIS DYNAMIXEL](https://dynamixel.com/)**
+- 📚 **[ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)**
+- 📚 **[ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)**
+- 📚 **[ROBOTIS e-Manual for OpenMANIPULATOR-X](https://emanual.robotis.com/docs/en/platform/openmanipulator_x/overview/)**
+
+### Learning Resources
+- 🎥 **[ROBOTIS YouTube Channel](https://www.youtube.com/@ROBOTISCHANNEL)**
+- 🎥 **[ROBOTIS Open Source YouTube Channel](https://www.youtube.com/@ROBOTISOpenSourceTeam)**
+- 🎥 **[ROBOTIS TurtleBot3 YouTube Playlist](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU)**
+- 🎥 **[ROBOTIS OpenMANIPULATOR YouTube Playlist](https://www.youtube.com/playlist?list=PLRG6WP3c31_WpEsB6_Rdt3KhiopXQlUkb)**
+
+### Community & Support
+- 💬 **[ROBOTIS Community Forum](https://forum.robotis.com/)**
+- 💬 **[TurtleBot category from ROS Community](https://discourse.ros.org/c/turtlebot/)**
diff --git a/turtlebot3_manipulation/CHANGELOG.rst b/turtlebot3_manipulation/CHANGELOG.rst
@@ -2,7 +2,7 @@
 Changelog for package turtlebot3_manipulation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.2.0 (2024-12-02)
+2.2.0 (2025-04-01)
 ------------------
 * Added gripper control in teleoperation.
 * Resolved the issue where teleoperation was not functioning on the actual robot.
@@ -12,7 +12,7 @@ Changelog for package turtlebot3_manipulation
 
 2.1.1 (2022-10-14)
 ------------------
-* Support ROS2 Humble
+* Support ROS 2 Humble
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
diff --git a/turtlebot3_manipulation_bringup/CHANGELOG.rst b/turtlebot3_manipulation_bringup/CHANGELOG.rst
@@ -2,14 +2,14 @@
 Changelog for package turtlebot3_manipulation_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.2.0 (2024-12-02)
+2.2.0 (2025-04-01)
 ------------------
 * Updated maintainer information
 * Contributors: Sungho Woo
 
 2.1.1 (2022-10-14)
 ------------------
-* Support ROS2 Humble
+* Support ROS 2 Humble
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
diff --git a/turtlebot3_manipulation_bringup/CMakeLists.txt b/turtlebot3_manipulation_bringup/CMakeLists.txt
@@ -17,7 +17,6 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
 ################################################################################
 # Macro for ament package
 ################################################################################
diff --git a/turtlebot3_manipulation_bringup/env-hooks/turtlebot3_manipulation_bringup.dsv.in b/turtlebot3_manipulation_bringup/env-hooks/turtlebot3_manipulation_bringup.dsv.in
diff --git a/turtlebot3_manipulation_cartographer/CHANGELOG.rst b/turtlebot3_manipulation_cartographer/CHANGELOG.rst
@@ -2,14 +2,14 @@
 Changelog for package turtlebot3_manipulation_cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.2.0 (2024-12-02)
+2.2.0 (2025-04-01)
 ------------------
 * Updated maintainer information
 * Contributors: Sungho Woo
 
 2.1.1 (2022-10-14)
 ------------------
-* Support ROS2 Humble
+* Support ROS 2 Humble
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
diff --git a/turtlebot3_manipulation_description/CHANGELOG.rst b/turtlebot3_manipulation_description/CHANGELOG.rst
@@ -2,15 +2,15 @@
 Changelog for package turtlebot3_manipulation_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.2.0 (2024-12-02)
+2.2.0 (2025-04-01)
 ------------------
 * 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
+* Support ROS 2 Humble
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
diff --git a/turtlebot3_manipulation_description/CMakeLists.txt b/turtlebot3_manipulation_description/CMakeLists.txt
@@ -16,7 +16,6 @@ install(DIRECTORY launch rviz urdf gazebo meshes ros2_control
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
 ################################################################################
 # Macro for ament package
 ################################################################################
diff --git a/turtlebot3_manipulation_description/env-hooks/turtlebot3_manipulation_description.dsv.in b/turtlebot3_manipulation_description/env-hooks/turtlebot3_manipulation_description.dsv.in
diff --git a/turtlebot3_manipulation_hardware/CHANGELOG.rst b/turtlebot3_manipulation_hardware/CHANGELOG.rst
@@ -2,14 +2,14 @@
 Changelog for package turtlebot3_manipulation_hardware
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.2.0 (2024-12-02)
+2.2.0 (2025-04-01)
 ------------------
 * Resolved the issue where teleoperation was not functioning on the actual robot
 * Contributors: Sungho Woo
 
 2.1.1 (2022-10-14)
 ------------------
-* Support ROS2 Humble
+* Support ROS 2 Humble
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
diff --git a/turtlebot3_manipulation_moveit_config/CHANGELOG.rst b/turtlebot3_manipulation_moveit_config/CHANGELOG.rst
@@ -2,7 +2,7 @@
 Changelog for package turtlebot3_manipulation_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.2.0 (2024-12-02)
+2.2.0 (2025-04-01)
 ------------------
 * Resolved the issue where teleoperation was not functioning on the actual robot
 * Contributors: Sungho Woo
diff --git a/turtlebot3_manipulation_moveit_config/CMakeLists.txt b/turtlebot3_manipulation_moveit_config/CMakeLists.txt
@@ -1,11 +1,23 @@
-cmake_minimum_required(VERSION 3.10.2)
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
 project(turtlebot3_manipulation_moveit_config)
 
+################################################################################
+# Find and load build settings from external packages
+################################################################################
 find_package(ament_cmake REQUIRED)
 
-ament_package()
-
+################################################################################
+# Install
+################################################################################
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}
   PATTERN "setup_assistant.launch" EXCLUDE)
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})
+
+################################################################################
+# Macro for ament package
+################################################################################
+ament_package()
diff --git a/turtlebot3_manipulation_moveit_config/package.xml b/turtlebot3_manipulation_moveit_config/package.xml
@@ -7,23 +7,20 @@
      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="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>
+  <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="hjkim@robotis.com">Hye-jong KIM</author>
   <author email="wsh@robotis.com">Sungho Woo</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
-
   <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_kinematics</exec_depend>
   <exec_depend>moveit_planners</exec_depend>
   <exec_depend>moveit_simple_controller_manager</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
-  <!-- The next 2 packages are required for the gazebo simulation.
-       We don't include them by default to prevent installing gazebo and all its dependencies. -->
   <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
   <exec_depend>moveit_ros_warehouse</exec_depend>
@@ -36,9 +33,7 @@
   <exec_depend>warehouse_ros_mongo</exec_depend>
   <exec_depend>srdfdom</exec_depend>
   <exec_depend>xacro</exec_depend>
-
-
   <export>
-      <build_type>ament_cmake</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/turtlebot3_manipulation_navigation2/CHANGELOG.rst b/turtlebot3_manipulation_navigation2/CHANGELOG.rst
@@ -2,14 +2,14 @@
 Changelog for package turtlebot3_manipulation_navigation2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.2.0 (2024-12-02)
+2.2.0 (2025-04-01)
 ------------------
 * Updated maintainer information
 * Contributors: Sungho Woo
 
 2.1.1 (2022-10-14)
 ------------------
-* Support ROS2 Humble
+* Support ROS 2 Humble
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
diff --git a/turtlebot3_manipulation_teleop/CHANGELOG.rst b/turtlebot3_manipulation_teleop/CHANGELOG.rst
@@ -2,14 +2,14 @@
 Changelog for package turtlebot3_manipulation_teleop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.2.0 (2024-12-02)
+2.2.0 (2025-04-01)
 ------------------
 * Added gripper control in teleoperation
 * Contributors: Sungho Woo
 
 2.1.1 (2022-10-14)
 ------------------
-* Support ROS2 Humble
+* Support ROS 2 Humble
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
diff --git a/turtlebot3_manipulation_teleop/CMakeLists.txt b/turtlebot3_manipulation_teleop/CMakeLists.txt
diff --git a/turtlebot3_manipulation_teleop/package.xml b/turtlebot3_manipulation_teleop/package.xml

Original file line number	Diff line number	Diff line change
`@@ -17,7 +17,6 @@ install(`
`17`	`17`	`DESTINATION share/${PROJECT_NAME}`
`18`	`18`	`)`
`19`	`19`
`20`		`-ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")`
`21`	`20`	`################################################################################`
`22`	`21`	`# Macro for ament package`
`23`	`22`	`################################################################################`
Original file line number	Diff line number	Diff line change
`@@ -16,7 +16,6 @@ install(DIRECTORY launch rviz urdf gazebo meshes ros2_control`
`16`	`16`	`DESTINATION share/${PROJECT_NAME}`
`17`	`17`	`)`
`18`	`18`
`19`		`-ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")`
`20`	`19`	`################################################################################`
`21`	`20`	`# Macro for ament package`
`22`	`21`	`################################################################################`