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Resolved an issue where tb3_manipulation simulation models were not loading #246

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Merged
merged 2 commits into from
Jul 11, 2025
Merged

Resolved an issue where tb3_manipulation simulation models were not loading #246

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6daf678
fix the issue that tb3_manipulator is not loaded
GyuH13 Jul 10, 2025
59bb3a2
bump
GyuH13 Jul 10, 2025
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4 changes: 4 additions & 0 deletions turtlebot3_fake_node/CHANGELOG.rst
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Expand Up @@ -2,6 +2,10 @@
Changelog for package turtlebot3_fake
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.8 (2025-07-10)
------------------
* None
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medium

The changelog entry * None is uninformative. Since the package version was bumped, there was a change. A changelog should briefly describe the changes in a new version to help users and maintainers track the evolution of the package. A more descriptive entry would be more helpful.

* Maintenance release.


2.3.6 (2025-06-19)
------------------
* None
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2 changes: 1 addition & 1 deletion turtlebot3_fake_node/package.xml
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Expand Up @@ -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>2.3.6</version>
<version>2.3.8</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.
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4 changes: 4 additions & 0 deletions turtlebot3_gazebo/CHANGELOG.rst
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Changelog for package turtlebot3_gazebo
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.8 (2025-07-10)
------------------
* None
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medium

The changelog entry * None is uninformative. Since the package version was bumped, there was a change. A changelog should briefly describe the changes in a new version to help users and maintainers track the evolution of the package. A more descriptive entry would be more helpful.

* Maintenance release.


2.3.6 (2025-06-19)
------------------
* None
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2 changes: 1 addition & 1 deletion turtlebot3_gazebo/package.xml
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<?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>2.3.6</version>
<version>2.3.8</version>
<description>
Gazebo simulation package for the TurtleBot3
</description>
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5 changes: 5 additions & 0 deletions turtlebot3_manipulation_gazebo/CHANGELOG.rst
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Changelog for package turtlebot3_manipulation_gazebo
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.8 (2025-07-10)
------------------
* Fixed the issue where the TurtleBot3 Manipulation Gazebo simulation was not working properly
* Contributors: Hyungyu Kim

2.3.6 (2025-06-19)
------------------
* None
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2 changes: 1 addition & 1 deletion turtlebot3_manipulation_gazebo/CMakeLists.txt
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Expand Up @@ -13,7 +13,7 @@ find_package(ament_cmake REQUIRED)
# Install
################################################################################
install(
DIRECTORY config gazebo launch ros2_control rviz urdf worlds models
DIRECTORY config gazebo launch ros2_control rviz urdf worlds models meshes
DESTINATION share/${PROJECT_NAME}
)

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1 change: 0 additions & 1 deletion turtlebot3_manipulation_gazebo/launch/gazebo.launch.py
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Expand Up @@ -143,7 +143,6 @@ def generate_launch_description():
'world': world,
}.items(),
),

Node(
package='gazebo_ros',
executable='spawn_entity.py',
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12 changes: 6 additions & 6 deletions turtlebot3_manipulation_gazebo/launch/turtlebot3_home_service_challenge.launch.py
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Expand Up @@ -97,12 +97,12 @@ def generate_launch_description():
arguments=[
'-topic', 'robot_description',
'-entity', 'turtlebot3_manipulation_system',
'-x', '0',
'-y', '0',
'-z', '0',
'-R', '0',
'-P', '0',
'-Y', '0'
'-x', '0.0',
'-y', '0.0',
'-z', '0.0',
'-R', '0.0',
'-P', '0.0',
'-Y', '0.0'
],
output='screen',
),
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3 changes: 2 additions & 1 deletion turtlebot3_manipulation_gazebo/package.xml
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Expand Up @@ -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_manipulation_gazebo</name>
<version>2.3.6</version>
<version>2.3.8</version>
<description>
Gazebo simulation package for the TurtleBot3 manipulation
</description>
Expand All @@ -23,5 +23,6 @@
<exec_depend>xacro</exec_depend>
<export>
<build_type>ament_cmake</build_type>
<gazebo_ros gazebo_model_path="${prefix}/..:${prefix}/models"/>
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high

Using ${prefix}/.. to add the parent install directory to GAZEBO_MODEL_PATH is very broad and can have unintended side effects. It makes Gazebo search the entire install space for models, which can lead to slow startup times and model name collisions if other packages are installed.

A more robust and maintainable approach, following ROS best practices, is for each package that provides Gazebo models to export its own model path. For example, if this package depends on models from turtlebot3_gazebo, then turtlebot3_gazebo/package.xml should contain:

<export>
  <gazebo_ros gazebo_model_path="${prefix}/models"/>
</export>

This would correctly add the specific model path to the environment.

The current change is a workaround that hides a missing export in a dependency. I recommend removing the overly broad path to encourage fixing the root cause in the dependency package.

    <gazebo_ros gazebo_model_path="${prefix}/models"/>

</export>
</package>
5 changes: 5 additions & 0 deletions turtlebot3_simulations/CHANGELOG.rst
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Changelog for package turtlebot3_simulations
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.8 (2025-07-10)
------------------
* Fixed the issue where the TurtleBot3 Manipulation Gazebo simulation was not working properly
* Contributors: Hyungyu Kim

2.3.6 (2025-06-19)
------------------
* Included the TurtleBot3 Manipulation Gazebo simulation package in the metapackage's package.xml and updated the CI configuration accordingly
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2 changes: 1 addition & 1 deletion turtlebot3_simulations/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>turtlebot3_simulations</name>
<version>2.3.6</version>
<version>2.3.8</version>
<description>
ROS 2 packages for TurtleBot3 simulations
</description>
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