Merge pull request #378 from ROBOTIS-GIT/develop

updated the CHANGELOG and version to release binary packages
ROBOTIS-GIT · Jan 22, 2019 · 4da5676 · 4da5676
2 parents 467c76b + 41cc23e
commit 4da5676
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diff --git a/.travis.yml b/.travis.yml
@@ -23,12 +23,13 @@ env:
     - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
 matrix:
   allow_failures:
-    - env: ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=bionic
     - env: ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
 branches:
   only:
     - master
     - develop
+    - kinetic-devel
+    - melodic-devel
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script:

diff --git a/turtlebot3/CHANGELOG.rst b/turtlebot3/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package turtlebot3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.0 (2019-01-22)
+------------------
+* changed math.ceil() operation `#373 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/373>`_
+* fixed TypeError integers
+* fixed read of scanned samples when there isn't 360
+* updated map.yaml `#348 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/348>`_
+* added an additional argument move_forward_only to prohibit backward locomotion in navigation `#339 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/339>`_
+* fixed typo `#280 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/280>`_
+* added windows port `#358 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/358>`_
+* Contributors: Gilbert, Darby Lim, linzhibo, oiz5201618, yoshimalucky, Steven Macenski, Eduardo Avelar, Sean Yen, Pyo
+
 1.1.0 (2018-07-23)
 ------------------
 * added bringup to load multiple robot simply #251

diff --git a/turtlebot3/package.xml b/turtlebot3/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>
     ROS packages for the Turtlebot3 (meta package)
   </description>
@@ -13,6 +13,7 @@
   <author email="[email protected]">HanCheol Cho</author>
   <author>Leon Jung</author>
   <maintainer email="[email protected]">Pyo</maintainer>
+  <maintainer email="[email protected]">Gilbert</maintainer>
   <url type="website">http://wiki.ros.org/turtlebot3</url>
   <url type="emanual">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>

diff --git a/turtlebot3_bringup/CHANGELOG.rst b/turtlebot3_bringup/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.0 (2019-01-22)
+------------------
+* none
+
 1.1.0 (2018-07-23)
 ------------------
 * added bringup to load multiple robot simply #251

diff --git a/turtlebot3_bringup/package.xml b/turtlebot3_bringup/package.xml
@@ -1,14 +1,16 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_bringup</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>
     roslaunch scripts for starting the TurtleBot3
   </description>
   <license>Apache 2.0</license>
   <author email="[email protected]">Pyo</author>
   <author email="[email protected]">Darby Lim</author>
+  <author email="[email protected]">Gilbert</author>
   <maintainer email="[email protected]">Pyo</maintainer>
+  <maintainer email="[email protected]">Gilbert</maintainer>
   <url type="website">http://wiki.ros.org/turtlebot3_bringup</url>
   <url type="emanual">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>

diff --git a/turtlebot3_description/CHANGELOG.rst b/turtlebot3_description/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.0 (2019-01-22)
+------------------
+* none
+
 1.1.0 (2018-07-23)
 ------------------
 * added bringup to load multiple robot simply #251

diff --git a/turtlebot3_description/package.xml b/turtlebot3_description/package.xml
@@ -1,14 +1,16 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_description</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>
     3D models of the TurtleBot3 for simulation and visualization
   </description>
   <license>Apache 2.0</license>
   <author email="[email protected]">Pyo</author>
   <author email="[email protected]">Darby Lim</author>
+  <author email="[email protected]">Gilbert</author>
   <maintainer email="[email protected]">Pyo</maintainer>
+  <maintainer email="[email protected]">Gilbert</maintainer>
   <url type="website">http://wiki.ros.org/turtlebot3_description</url>
   <url type="emanual">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>

diff --git a/turtlebot3_example/CHANGELOG.rst b/turtlebot3_example/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package turtlebot3_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.0 (2019-01-22)
+------------------
+* changed math.ceil() operation `#373 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/373>`_
+* fixed TypeError integers
+* fixed read of scanned samples when there isn't 360
+* Contributors: Eduardo Avelar, Gilbert, Pyo
+
 1.1.0 (2018-07-23)
 ------------------
 * added bringup to load multiple robot simply #251

diff --git a/turtlebot3_example/nodes/turtlebot3_obstacle b/turtlebot3_example/nodes/turtlebot3_obstacle
@@ -18,40 +18,72 @@
 # Authors: Gilbert #
 
 import rospy
+import math
 from sensor_msgs.msg import LaserScan
 from geometry_msgs.msg import Twist
 
+LINEAR_VEL = 0.22
+STOP_DISTANCE = 0.2
+LIDAR_ERROR = 0.05
+SAFE_STOP_DISTANCE = STOP_DISTANCE + LIDAR_ERROR
+
 class Obstacle():
     def __init__(self):
-        self.LIDAR_ERR = 0.05
         self._cmd_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
         self.obstacle()
 
     def get_scan(self):
-        msg = rospy.wait_for_message("scan", LaserScan)
-        self.scan_filter = []
-        for i in range(360):
-            if i <= 15 or i > 335:
-                if msg.ranges[i] >= self.LIDAR_ERR:
-                    self.scan_filter.append(msg.ranges[i])
-
+        scan = rospy.wait_for_message('scan', LaserScan)
+        scan_filter = []
+
+        samples = len(scan.ranges)  # The number of samples is defined in 
+                                    # turtlebot3_<model>.gazebo.xacro file,
+                                    # the default is 360.
+        samples_view = 1            # 1 <= samples_view <= samples
+
+        if samples_view > samples:
+            samples_view = samples
+
+        if samples_view is 1:
+            scan_filter.append(scan.ranges[0])
+
+        else:
+            left_lidar_samples_ranges = -(samples_view//2 + samples_view % 2)
+            right_lidar_samples_ranges = samples_view//2
+
+            left_lidar_samples = scan.ranges[left_lidar_samples_ranges:]
+            right_lidar_samples = scan.ranges[:right_lidar_samples_ranges]
+            scan_filter.extend(left_lidar_samples + right_lidar_samples)
+
+        for i in range(samples_view):
+            if scan_filter[i] == float('Inf'):
+                scan_filter[i] = 3.5
+            elif math.isnan(scan_filter[i]):
+                scan_filter[i] = 0
+
+        return scan_filter
+
     def obstacle(self):
-        self.twist = Twist()
-        while not rospy.is_shutdown():
-            self.get_scan()
+        twist = Twist()
+        turtlebot_moving = True
 
-            if min(self.scan_filter) < 0.2:
-                self.twist.linear.x = 0.0
-                self.twist.angular.z = 0.0
-                self._cmd_pub.publish(self.twist)
-                rospy.loginfo('Stop!')
+        while not rospy.is_shutdown():
+            lidar_distances = self.get_scan()
+            min_distance = min(lidar_distances)
 
+            if min_distance < SAFE_STOP_DISTANCE:
+                if turtlebot_moving:
+                    twist.linear.x = 0.0
+                    twist.angular.z = 0.0
+                    self._cmd_pub.publish(twist)
+                    turtlebot_moving = False
+                    rospy.loginfo('Stop!')
             else:
-                self.twist.linear.x = 0.05
-                self.twist.angular.z = 0.0
-                rospy.loginfo('distance of the obstacle : %f', min(self.scan_filter))
-
-            self._cmd_pub.publish(self.twist)
+                twist.linear.x = LINEAR_VEL
+                twist.angular.z = 0.0
+                self._cmd_pub.publish(twist)
+                turtlebot_moving = True
+                rospy.loginfo('Distance of the obstacle : %f', min_distance)
 
 def main():
     rospy.init_node('turtlebot3_obstacle')

diff --git a/turtlebot3_example/package.xml b/turtlebot3_example/package.xml
@@ -1,13 +1,14 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_example</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>
     This package provides four TurtleBot3 basic example include move using interactive marker, move and stop using LDS, move to goal position, move to custom routes. The interactions node is that you can control the TurtleBot3 front and back side or rotate to goal position. The obstacle node is that when the robot meets an obstacle, it stops. The patrol node is that TurtleBot3 move to custom route. There are 3 route(square, triangle, circle) in this package. You can add your route and move the TurtleBot3. The pointop node is that you can insert goal position include distance x-axis, y-axis and angluar z-axis.  
   </description>
   <license>Apache 2.0</license>
   <author email="[email protected]">Gilbert</author>
   <maintainer email="[email protected]">Pyo</maintainer>
+  <maintainer email="[email protected]">Gilbert</maintainer>
   <url type="website">http://wiki.ros.org/turtlebot3_example</url>
   <url type="emanual">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>

diff --git a/turtlebot3_navigation/CHANGELOG.rst b/turtlebot3_navigation/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package turtlebot3_navigation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.0 (2019-01-22)
+------------------
+* updated map.yaml `#348 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/348>`_
+* added an additional argument move_forward_only to prohibit backward locomotion in navigation `#339 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/339>`_
+* fixed typo `#280 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/280>`_
+* Contributors: Gilbert, Darby Lim, linzhibo, oiz5201618, yoshimalucky, Pyo
+
 1.1.0 (2018-07-23)
 ------------------
 * added bringup to load multiple robot simply #251

diff --git a/turtlebot3_navigation/launch/move_base.launch b/turtlebot3_navigation/launch/move_base.launch
@@ -3,6 +3,7 @@
   <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
   <arg name="cmd_vel_topic" default="/cmd_vel" />
   <arg name="odom_topic" default="odom" />
+  <arg name="move_forward_only" default="false"/>
 
   <!-- move_base -->
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
@@ -15,5 +16,6 @@
     <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
     <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
     <remap from="odom" to="$(arg odom_topic)"/>
+    <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
   </node>
 </launch>
diff --git a/turtlebot3_navigation/launch/turtlebot3_navigation.launch b/turtlebot3_navigation/launch/turtlebot3_navigation.launch
@@ -3,6 +3,7 @@
   <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
   <arg name="map_file" default="$(find turtlebot3_navigation)/maps/map.yaml"/>
   <arg name="open_rviz" default="true"/>
+  <arg name="move_forward_only" default="false"/>
 
   <!-- Turtlebot3 -->
   <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
@@ -18,6 +19,7 @@
   <!-- move_base -->
   <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
     <arg name="model" value="$(arg model)" />
+    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
   </include>
 
   <!-- rviz -->

diff --git a/turtlebot3_navigation/maps/map.yaml b/turtlebot3_navigation/maps/map.yaml
@@ -1,4 +1,4 @@
-image: /home/pyo/map.pgm
+image: ./map.pgm
 resolution: 0.050000
 origin: [-10.000000, -10.000000, 0.000000]
 negate: 0

diff --git a/turtlebot3_navigation/package.xml b/turtlebot3_navigation/package.xml
@@ -1,15 +1,17 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_navigation</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>
     The turtlebot3_navigation provides roslaunch scripts for starting the navigation.
   </description>
   <license>Apache 2.0</license>
   <author email="[email protected]">Pyo</author>
   <author email="[email protected]">Darby Lim</author>
+  <author email="[email protected]">Gilbert</author>
   <author>Leon Jung</author>
   <maintainer email="[email protected]">Pyo</maintainer>
+  <maintainer email="[email protected]">Gilbert</maintainer>
   <url type="website">http://wiki.ros.org/turtlebot3_navigation</url>
   <url type="emanual">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>

diff --git a/turtlebot3_navigation/param/dwa_local_planner_params_burger.yaml b/turtlebot3_navigation/param/dwa_local_planner_params_burger.yaml
@@ -27,7 +27,7 @@ DWAPlannerROS:
   sim_time: 1.5
   vx_samples: 20
   vy_samples: 0
-  vtheta_samples: 40
+  vth_samples: 40
   controller_frequency: 10.0
 
 # Trajectory Scoring Parameters

diff --git a/turtlebot3_navigation/param/dwa_local_planner_params_waffle.yaml b/turtlebot3_navigation/param/dwa_local_planner_params_waffle.yaml
@@ -27,7 +27,7 @@ DWAPlannerROS:
   sim_time: 2.0
   vx_samples: 20
   vy_samples: 0
-  vtheta_samples: 40
+  vth_samples: 40
   controller_frequency: 10.0
 
 # Trajectory Scoring Parameters

diff --git a/turtlebot3_navigation/param/dwa_local_planner_params_waffle_pi.yaml b/turtlebot3_navigation/param/dwa_local_planner_params_waffle_pi.yaml
@@ -27,7 +27,7 @@ DWAPlannerROS:
   sim_time: 2.0
   vx_samples: 20
   vy_samples: 0
-  vtheta_samples: 40
+  vth_samples: 40
   controller_frequency: 10.0
 
 # Trajectory Scoring Parameters

diff --git a/turtlebot3_slam/CHANGELOG.rst b/turtlebot3_slam/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_slam
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.0 (2019-01-22)
+------------------
+* modified rosdep `#342 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/342>`_
+* Contributors: Steven Macenski, Darby Lim
+
 1.1.0 (2018-07-23)
 ------------------
 * added bringup to load multiple robot simply #251

diff --git a/turtlebot3_slam/package.xml b/turtlebot3_slam/package.xml
@@ -1,15 +1,17 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_slam</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>
     The turtlebot3_slam package provides roslaunch scripts for starting the SLAM
   </description>
   <license>Apache 2.0</license>
   <author email="[email protected]">Pyo</author>
   <author email="[email protected]">Darby Lim</author>
+  <author email="[email protected]">Gilbert</author>
   <author>Leon Jung</author>
   <maintainer email="[email protected]">Pyo</maintainer>
+  <maintainer email="[email protected]">Gilbert</maintainer>
   <url type="website">http://wiki.ros.org/turtlebot3_slam</url>
   <url type="emanual">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>
@@ -18,8 +20,8 @@
   <depend>roscpp</depend>
   <depend>sensor_msgs</depend>
   <exec_depend>turtlebot3_bringup</exec_depend>
-  <exec_depend>gmapping</exec_depend>
-  <!-- <exec_depend>cartographer</exec_depend>
+  <!--  <exec_depend>slam_gmapping</exec_depend>
+  <exec_depend>cartographer</exec_depend>
   <exec_depend>cartographer_ros</exec_depend>
   <exec_depend>cartographer_ros_msgs</exec_depend>
   <exec_depend>cartographer_rviz</exec_depend>

diff --git a/turtlebot3_teleop/CHANGELOG.rst b/turtlebot3_teleop/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_teleop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.0 (2019-01-22)
+------------------
+* added windows port `#358 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/358>`_
+* Contributors: Sean Yen, Taehun Lim
+
 1.1.0 (2018-07-23)
 ------------------
 * none