Feature add manipulation sim #239
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Hello @chan-1207, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!
Summary of Changes
Hello team, Gemini here to provide a summary of this pull request by @chan-1207.
This PR introduces Gazebo simulation support for the TurtleBot3 Waffle Pi equipped with the OpenManipulator-X arm. The core changes involve creating a new ROS 2 package, turtlebot3_manipulation_gazebo, which houses the necessary URDF descriptions, Gazebo-specific configurations and plugins, ros2_control setup, and launch files to simulate the robot.
Additionally, a new Gazebo world specifically designed for a "home service challenge" is added to the turtlebot3_gazebo package, complete with models for various AR markers used within that environment. The existing simulation packages (turtlebot3_fake_node, turtlebot3_gazebo, turtlebot3_simulations) have their versions updated and changelogs modified to reflect the inclusion of the new manipulation simulation package and the new world.
Highlights
- New Simulation Package: A new ROS 2 package,
turtlebot3_manipulation_gazebo, is added to encapsulate all the necessary files for simulating the TurtleBot3 with the OpenManipulator-X arm in Gazebo. - Manipulation Robot Description: URDF/XACRO files for the combined TurtleBot3 Waffle Pi base and OpenManipulator-X arm are added, including Gazebo-specific properties and
ros2_controlconfigurations supporting both simulation and fake hardware. - New Gazebo World: A new Gazebo world file,
turtlebot3_home_service_challenge.world, is added to theturtlebot3_gazebopackage, providing a specific environment for manipulation tasks. - AR Marker Models: Models and meshes for AR markers (Marker0 through Marker9) are included within the new
turtlebot3_home_service_challengeworld directory. - Launch Files: New launch files are provided in
turtlebot3_manipulation_gazebofor launching the robot with fake hardware (fake.launch.py) or in a default Gazebo world (gazebo.launch.py), and a base launch file (base.launch.py) handles common setup. A launch file for the new home service challenge world is added toturtlebot3_gazebo.
Changelog
Click here to see the changelog
- turtlebot3_fake_node/CHANGELOG.rst
- Added version 2.3.1 entry with 'Node'
- turtlebot3_fake_node/package.xml
- Updated version from 2.3.0 to 2.3.1
- turtlebot3_gazebo/CHANGELOG.rst
- Added version 2.3.1 entry with 'Node'
- turtlebot3_gazebo/launch/turtlebot3_home_service_challenge.launch.py
- Added new launch file for the home service challenge world
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker0/meshes/Marker0.dae
- Added mesh file for Marker0
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker0/model-1_4.sdf
- Added SDF model (v1.4) for Marker0
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker0/model-1_5.sdf
- Added SDF model (v1.5) for Marker0
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker0/model.config
- Added model config for Marker0
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker0/model.sdf
- Added SDF model (v1.6) for Marker0
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker1/meshes/Marker1.dae
- Added mesh file for Marker1
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker1/model-1_4.sdf
- Added SDF model (v1.4) for Marker1
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker1/model-1_5.sdf
- Added SDF model (v1.5) for Marker1
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker1/model.config
- Added model config for Marker1
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker1/model.sdf
- Added SDF model (v1.6) for Marker1
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker2/meshes/Marker2.dae
- Added mesh file for Marker2
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker2/model-1_4.sdf
- Added SDF model (v1.4) for Marker2
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker2/model-1_5.sdf
- Added SDF model (v1.5) for Marker2
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker2/model.config
- Added model config for Marker2
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker2/model.sdf
- Added SDF model (v1.6) for Marker2
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker3/meshes/Marker3.dae
- Added mesh file for Marker3
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker3/model-1_4.sdf
- Added SDF model (v1.4) for Marker3
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker3/model-1_5.sdf
- Added SDF model (v1.5) for Marker3
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker3/model.config
- Added model config for Marker3
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker3/model.sdf
- Added SDF model (v1.6) for Marker3
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker4/meshes/Marker4.dae
- Added mesh file for Marker4
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker4/model-1_4.sdf
- Added SDF model (v1.4) for Marker4
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker4/model-1_5.sdf
- Added SDF model (v1.5) for Marker4
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker4/model.config
- Added model config for Marker4
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker4/model.sdf
- Added SDF model (v1.6) for Marker4
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker5/meshes/Marker5.dae
- Added mesh file for Marker5
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker5/model-1_4.sdf
- Added SDF model (v1.4) for Marker5
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker5/model-1_5.sdf
- Added SDF model (v1.5) for Marker5
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker5/model.config
- Added model config for Marker5
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker5/model.sdf
- Added SDF model (v1.6) for Marker5
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker6/meshes/Marker6.dae
- Added mesh file for Marker6
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker6/model-1_4.sdf
- Added SDF model (v1.4) for Marker6
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker6/model-1_5.sdf
- Added SDF model (v1.5) for Marker6
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker6/model.config
- Added model config for Marker6
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker6/model.sdf
- Added SDF model (v1.6) for Marker6
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker7/meshes/Marker7.dae
- Added mesh file for Marker7
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker7/model-1_4.sdf
- Added SDF model (v1.4) for Marker7
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker7/model-1_5.sdf
- Added SDF model (v1.5) for Marker7
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker7/model.config
- Added model config for Marker7
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker7/model.sdf
- Added SDF model (v1.6) for Marker7
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker8/meshes/Marker8.dae
- Added mesh file for Marker8
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker8/model-1_4.sdf
- Added SDF model (v1.4) for Marker8
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker8/model-1_5.sdf
- Added SDF model (v1.5) for Marker8
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker8/model.config
- Added model config for Marker8
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker8/model.sdf
- Added SDF model (v1.6) for Marker8
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker9/meshes/Marker9.dae
- Added mesh file for Marker9
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker9/model-1_4.sdf
- Added SDF model (v1.4) for Marker9
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker9/model-1_5.sdf
- Added SDF model (v1.5) for Marker9
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker9/model.config
- Added model config for Marker9
- turtlebot3_gazebo/models/turtlebot3_home_service_challenge/marker9/model.sdf
- Added SDF model (v1.6) for Marker9
- turtlebot3_gazebo/package.xml
- Updated version from 2.3.0 to 2.3.1
- turtlebot3_gazebo/worlds/turtlebot3_home_service_challenge.world
- Added new Gazebo world file for the home service challenge
- turtlebot3_manipulation_gazebo/CHANGELOG.rst
- Added new changelog file
- Moved the TurtleBot3 Manipulation Gazebo simulation from the turtlebot3_manipulation_bringup package
- turtlebot3_manipulation_gazebo/CMakeLists.txt
- Added new CMakeLists file for the package
- turtlebot3_manipulation_gazebo/config/gazebo_controller_manager.yaml
- Added new Gazebo controller manager configuration file
- turtlebot3_manipulation_gazebo/config/hardware_controller_manager.yaml
- Added new hardware controller manager configuration file
- turtlebot3_manipulation_gazebo/gazebo/materials.xacro
- Added new xacro file defining materials
- turtlebot3_manipulation_gazebo/gazebo/open_manipulator_x.gazebo.xacro
- Added new Gazebo xacro file for the OpenManipulator-X arm
- turtlebot3_manipulation_gazebo/gazebo/turtlebot3_waffle_pi.gazebo.xacro
- Added new Gazebo xacro file for the TurtleBot3 Waffle Pi base
- turtlebot3_manipulation_gazebo/launch/base.launch.py
- Added new base launch file for the manipulation robot
- turtlebot3_manipulation_gazebo/launch/fake.launch.py
- Added new launch file for fake hardware simulation
- turtlebot3_manipulation_gazebo/launch/gazebo.launch.py
- Added new launch file for Gazebo simulation in a default world
- turtlebot3_manipulation_gazebo/package.xml
- Added new package definition file
- turtlebot3_manipulation_gazebo/ros2_control/turtlebot3_manipulation_system.ros2_control.xacro
- Added new ros2_control xacro file for the combined system
- turtlebot3_manipulation_gazebo/rviz/turtlebot3_manipulation.rviz
- Added new Rviz configuration file
- turtlebot3_manipulation_gazebo/urdf/open_manipulator_x.urdf.xacro
- Added new URDF xacro file for the OpenManipulator-X arm
- turtlebot3_manipulation_gazebo/urdf/turtlebot3_manipulation.urdf.xacro
- Added new combined URDF xacro file for the TurtleBot3 Manipulation robot
- turtlebot3_manipulation_gazebo/urdf/turtlebot3_waffle_pi.urdf.xacro
- Added new URDF xacro file for the TurtleBot3 Waffle Pi base
- turtlebot3_simulations/CHANGELOG.rst
- Added version 2.3.1 entry
- Moved the TurtleBot3 Manipulation Gazebo simulation from the turtlebot3_manipulation_bringup package
- turtlebot3_simulations/package.xml
- Updated version from 2.3.0 to 2.3.1
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A robot with an arm,
In Gazebo, safe from harm.
It grasps and it turns,
As the simulation learns,
Avoiding walls, a charming alarm.
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Code Review
This pull request introduces a significant amount of new functionality by adding Gazebo simulation maps and TurtleBot3 Manipulation Gazebo simulation capabilities. The overall structure, including the new turtlebot3_manipulation_gazebo package, launch files, URDF/XACRO configurations, and world files, appears well-organized and adheres to ROS 2 conventions.
The changes are comprehensive and enable a new simulation scenario. The use of ros2_control for managing the robot's hardware interfaces in simulation is a good approach. The launch files are structured logically, using arguments and inclusions effectively.
I've identified a few areas for improvement, primarily related to changelog clarity and a specific detail in the URDF definition. Addressing these will enhance the maintainability and clarity of the codebase.
Summary of Findings
- Changelog Clarity: Some changelog entries (e.g., in
turtlebot3_fake_node/CHANGELOG.rstandturtlebot3_gazebo/CHANGELOG.rst) are too generic (e.g., "* Node"). They should be more descriptive of the actual changes made. (Commented) - URDF Mimic Joint Definition: The URDF for
open_manipulator_xuses adummy_mimic_fixjoint pattern that might be overly complex or redundant given standard URDF mimic tags andros2_controlmimic capabilities. Clarification on its necessity is requested. (Commented) - Missing Newlines at End of XML/SDF Files: Many of the newly added XML-based files (SDF, model.config) are missing a final newline character. While not functionally critical, adding it is a common best practice for text files. (Not commented due to review settings)
- Python Launch File Line Length: A multi-line string in
turtlebot3_manipulation_gazebo/launch/base.launch.py(description forfake_sensor_commands) results in a very long line, which could be re-formatted for better readability according to PEP 8 guidelines. (Not commented due to review settings) - ROS 1
$(find)Syntax in XACRO for Gazebo Plugin: Theturtlebot3_manipulation.urdf.xacrofile uses$(find ...)syntax for specifying the controller manager YAML path for thegazebo_ros2_controlplugin. While this is often supported by Gazebo plugins for backward compatibility or direct parsing, it's a ROS 1 pattern. (Not commented due to review settings)
Merge Readiness
This pull request adds valuable simulation capabilities for TurtleBot3 Manipulation. The overall implementation is solid. However, there are a few medium-severity items (changelog clarity and a URDF detail) that should be addressed to improve maintainability and clarity before merging. I am unable to approve pull requests, so please ensure these points are considered and the PR is reviewed by other maintainers. Addressing the medium-severity comments is recommended before merging.
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@yun-goon please review it. |
GyuH13
added
documentation
4 participants
Pull Request Summary
This PR to humble branch adds Gazebo simulation maps and TurtleBot3 Manipulation Gazebo simulation from turtlebot3_manipulation, turtlebot3_home_service_challenge package:
Added turtlebot3_manipulation Gazebo Simulation
Added turtlebot3_home_service_challenge map
Validation
Verified successful colcon build and ros2 launch on a Humble development environment