ROBOTIS-GIT · robotpilot · Jun 9, 2025 · May 28, 2025 · May 28, 2025 · Jun 2, 2025
diff --git a/turtlebot3_fake_node/CHANGELOG.rst b/turtlebot3_fake_node/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_fake
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.4 (2025-05-28)
+------------------
+* None
+
 2.3.0 (2025-02-17)
 ------------------
 * None

diff --git a/turtlebot3_fake_node/package.xml b/turtlebot3_fake_node/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_fake_node</name>
-  <version>2.3.0</version>
+  <version>2.3.4</version>
   <description>
     Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot.
     You can do simple tests using this package on rviz without real robots.

diff --git a/turtlebot3_gazebo/CHANGELOG.rst b/turtlebot3_gazebo/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.4 (2025-05-28)
+------------------
+* None
+
 2.3.0 (2025-02-17)
 ------------------
 * Added multi-robot launch functionality

diff --git a/turtlebot3_gazebo/package.xml b/turtlebot3_gazebo/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_gazebo</name>
-  <version>2.3.0</version>
+  <version>2.3.4</version>
   <description>
     Gazebo simulation package for the TurtleBot3
   </description>

diff --git a/turtlebot3_manipulation_gazebo/CHANGELOG.rst b/turtlebot3_manipulation_gazebo/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package turtlebot3_manipulation_gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.3.4 (2025-05-28)
+------------------
+* Moved the TurtleBot3 Manipulation Gazebo simulation from the turtlebot3_manipulation_bringup package
+* Contributors: ChanHyeong Lee
diff --git a/turtlebot3_manipulation_gazebo/CMakeLists.txt b/turtlebot3_manipulation_gazebo/CMakeLists.txt
@@ -0,0 +1,23 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
+project(turtlebot3_manipulation_gazebo)
+
+################################################################################
+# Find and load build settings from external packages
+################################################################################
+find_package(ament_cmake REQUIRED)
+
+################################################################################
+# Install
+################################################################################
+install(
+  DIRECTORY config gazebo launch ros2_control rviz urdf worlds models
+  DESTINATION share/${PROJECT_NAME}
+)
+
+################################################################################
+# Macro for ament package
+################################################################################
+ament_package()
diff --git a/turtlebot3_manipulation_gazebo/config/gazebo_controller_manager.yaml b/turtlebot3_manipulation_gazebo/config/gazebo_controller_manager.yaml
@@ -0,0 +1,54 @@
+controller_manager:
+  ros__parameters:
+    use_sim_time: True
+    update_rate: 1000  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    imu_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    gripper_controller:
+      type: position_controllers/GripperActionController
+
+imu_broadcaster:
+  ros__parameters:
+    use_sim_time: True
+    frame_id: imu_link
+    sensor_name: imu
+
+arm_controller:
+  ros__parameters:
+    use_sim_time: True
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+    interface_name: position
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 200.0 # Defaults to 50
+    action_monitor_rate: 20.0 # Defaults to 20
+
+    allow_partial_joints_goal: false # Defaults to false
+    open_loop_control: true
+    allow_integration_in_goal_trajectories: true
+    constraints:
+      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
+      goal_time: 0.0 # Defaults to 0.0 (start immediately)
+
+gripper_controller:
+  ros__parameters:
+    use_sim_time: True
+    joint: gripper_left_joint
diff --git a/turtlebot3_manipulation_gazebo/config/hardware_controller_manager.yaml b/turtlebot3_manipulation_gazebo/config/hardware_controller_manager.yaml
@@ -0,0 +1,110 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    diff_drive_controller:
+      type: diff_drive_controller/DiffDriveController
+
+    imu_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    gripper_controller:
+      type: position_controllers/GripperActionController
+
+diff_drive_controller:
+  ros__parameters:
+    left_wheel_names: ["wheel_left_joint"]
+    right_wheel_names: ["wheel_right_joint"]
+
+    wheel_separation: 0.287
+    #wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
+    wheel_radius: 0.033
+
+    wheel_separation_multiplier: 1.0
+    left_wheel_radius_multiplier: 1.0
+    right_wheel_radius_multiplier: 1.0
+
+    publish_rate: 50.0
+    odom_frame_id: odom
+    base_frame_id: base_footprint
+    pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+    twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+
+    open_loop: true
+    enable_odom_tf: true
+
+    cmd_vel_timeout: 0.5
+    #publish_limited_velocity: true
+    use_stamped_vel: false
+    #velocity_rolling_window_size: 10
+
+    # Preserve turning radius when limiting speed/acceleration/jerk
+    preserve_turning_radius: true
+
+    # Publish limited velocity
+    publish_cmd: true
+
+    # Publish wheel data
+    publish_wheel_data: true
+
+    # Velocity and acceleration limits
+    # Whenever a min_* is unspecified, default to -max_*
+    linear.x.has_velocity_limits: true
+    linear.x.has_acceleration_limits: true
+    linear.x.has_jerk_limits: false
+    linear.x.max_velocity: 0.26
+    linear.x.min_velocity: -0.26
+    linear.x.max_acceleration: 1.0
+    linear.x.max_jerk: 0.0
+    linear.x.min_jerk: 0.0
+
+    angular.z.has_velocity_limits: true
+    angular.z.has_acceleration_limits: true
+    angular.z.has_jerk_limits: false
+    angular.z.max_velocity: 1.82
+    angular.z.min_velocity: -1.82
+    angular.z.max_acceleration: 4.0
+    angular.z.min_acceleration: -4.0
+    angular.z.max_jerk: 0.0
+    angular.z.min_jerk: 0.0
+
+imu_broadcaster:
+  ros__parameters:
+    frame_id: imu_link
+    sensor_name: imu
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+    interface_name: position
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 200.0 # Defaults to 50
+    action_monitor_rate: 20.0 # Defaults to 20
+
+    allow_partial_joints_goal: false # Defaults to false
+    open_loop_control: true
+    allow_integration_in_goal_trajectories: true
+    constraints:
+      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
+      goal_time: 0.0 # Defaults to 0.0 (start immediately)
+
+gripper_controller:
+  ros__parameters:
+    joint: gripper_left_joint
diff --git a/turtlebot3_manipulation_gazebo/gazebo/materials.xacro b/turtlebot3_manipulation_gazebo/gazebo/materials.xacro
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<!--
+Copied from open_manipulator example -
+https://github.com/ROBOTIS-GIT/open_manipulator/blob/foxy-devel/open_manipulator_x_description/urdf/materials.xacro
+-->
+<robot>
+
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="0.8706 0.8118 0.7647 1.0"/>
+  </material>
+
+  <material name="dark">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1.0"/>
+  </material>
+
+  <material name="light_black">
+    <color rgba="0.4 0.4 0.4 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="1.0 0.4235 0.0392 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+</robot>
diff --git a/turtlebot3_manipulation_gazebo/gazebo/open_manipulator_x.gazebo.xacro b/turtlebot3_manipulation_gazebo/gazebo/open_manipulator_x.gazebo.xacro
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<!--
+Copied and modified from turtlebot3 example:
+https://github.com/ROBOTIS-GIT/turtlebot3/blob/kinetic-devel/turtlebot3_description/urdf/turtlebot3_waffle_pi_for_open_manipulator.gazebo.xacro
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="open_manipulator_x_gazebo" params="prefix">
+
+  <xacro:macro name="SimpleTransmission" params="trans joint actuator">
+    <transmission name="${trans}">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${joint}">
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${actuator}">
+        <mechanicalReduction>1</mechanicalReduction>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
+      </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:macro name="Link" params="reference">
+    <gazebo reference="${reference}">
+      <kp>1000000.0</kp>
+      <kd>100.0</kd>
+      <mu1>30.0</mu1>
+      <mu2>30.0</mu2>
+      <maxVel>1.0</maxVel>
+      <minDepth>0.001</minDepth>
+      <material>Gazebo/DarkGrey</material>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:Link reference="${prefix}link1"/>
+  <xacro:Link reference="${prefix}link2"/>
+  <xacro:Link reference="${prefix}link3"/>
+  <xacro:Link reference="${prefix}link4"/>
+  <xacro:Link reference="${prefix}link5"/>
+
+  <xacro:Link reference="${prefix}gripper_left_link"/>
+  <xacro:Link reference="${prefix}gripper_right_link"/>
+
+  <gazebo reference="${prefix}end_effector_link">
+    <material>Gazebo/Red</material>
+  </gazebo>
+
+  <xacro:SimpleTransmission trans="${prefix}trans1" joint="${prefix}joint1" actuator="${prefix}actuator1" />
+  <xacro:SimpleTransmission trans="${prefix}trans2" joint="${prefix}joint2" actuator="${prefix}actuator2" />
+  <xacro:SimpleTransmission trans="${prefix}trans3" joint="${prefix}joint3" actuator="${prefix}actuator3" />
+  <xacro:SimpleTransmission trans="${prefix}trans4" joint="${prefix}joint4" actuator="${prefix}actuator4" />
+  <xacro:SimpleTransmission trans="${prefix}trans5" joint="${prefix}gripper_left_joint" actuator="${prefix}actuator5" />
+  <xacro:SimpleTransmission trans="${prefix}trans6" joint="${prefix}gripper_right_joint" actuator="${prefix}actuator6" />
+
+
+  </xacro:macro>
+
+</robot>