diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index a733f691..667f8722 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -9,39 +9,16 @@ on: # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: - ament_lint_bionic: - runs-on: ubuntu-18.04 - strategy: - fail-fast: false - matrix: - linter: [copyright, cppcheck, cpplint, uncrustify, pep8, pep257, xmllint] - distribution: [dashing] - steps: - - uses: actions/checkout@v2 - - uses: ros-tooling/setup-ros@0.1.2 - - uses: ros-tooling/action-ros-lint@0.0.6 - with: - distribution: ${{ matrix.distribution }} - linter: ${{ matrix.linter }} - package-name: | - turtlebot3 - turtlebot3_bringup - turtlebot3_cartographer - turtlebot3_description - turtlebot3_example - turtlebot3_navigation2 - turtlebot3_node - turtlebot3_teleop ament_lint_focal: runs-on: ubuntu-20.04 strategy: fail-fast: false matrix: linter: [copyright, cppcheck, cpplint, uncrustify, pep257, xmllint] #todo : flake8 - distribution: [foxy] + distribution: [foxy, galactic, rolling] steps: - uses: actions/checkout@v2 - - uses: ros-tooling/setup-ros@0.1.2 + - uses: ros-tooling/setup-ros@0.2.1 - uses: ros-tooling/action-ros-lint@0.0.6 with: distribution: ${{ matrix.distribution }} diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index 2e60f998..14460832 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -3,9 +3,9 @@ name: ros2 # Controls when the action will run. Triggers the workflow on push or pull request on: push: - branches: [ ros2 ] + branches: [ ros2, ros2-devel ] pull_request: - branches: [ ros2 ] + branches: [ ros2, ros2-devel ] # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: @@ -46,7 +46,7 @@ jobs: with: path: ros_ws/src - name: Setup ROS environment - uses: ros-tooling/setup-ros@0.1.2 + uses: ros-tooling/setup-ros@0.2.1 with: required-ros-distributions: ${{ matrix.ros_distribution }} - name: Build and Test diff --git a/ISSUE_TEMPLATE.md b/ISSUE_TEMPLATE.md index 4d767c53..1c460f00 100644 --- a/ISSUE_TEMPLATE.md +++ b/ISSUE_TEMPLATE.md @@ -1,50 +1,48 @@ -ISSUE TEMPLATE ver. 0.4.0 +ISSUE TEMPLATE ver. 0.4.1 + +**Please note that we do not provide support for programming source codes or modifying the hardware.** 1. Which TurtleBot3 you have? - [ ] Burger - - [ ] Waffle - [ ] Waffle Pi 2. Which SBC(Single Board Computer) is installed on TurtleBot3? - [ ] Raspberry Pi 3 - - [ ] Raspberry Pi 4 - - [ ] Intel Joule 570x - - [ ] etc (PLEASE, WRITE DOWN YOUR SBC HERE) + - [ ] Raspberry Pi 4 (specify RAM size: 2/4/8GB) + - [ ] Jetson Nano + - [ ] other (PLEASE, WRITE DOWN YOUR SBC HERE) 3. Which OS is installed on the TurtleBot3 SBC? - - [ ] Raspbian recovery image for ROS 1 Kinetic (Provided by ROBOTIS) - - [ ] Ubuntu preinstalled server 18.04.1 or later - - [ ] Ubuntu preinstalled server 20.04.1 or later - - [ ] etc (PLEASE, WRITE DOWN YOUR OS) + - [ ] Raspberry Pi recovery image (Provided by ROBOTIS via eManual) + - [ ] Ubuntu preinstalled server 18.04 + - [ ] Ubuntu preinstalled server 20.04 + - [ ] other (PLEASE, WRITE DOWN YOUR OS) 4. Which ROS version is running on TurtleBot3? - - [ ] ROS 1 Kinetic Kame - - [ ] ROS 1 Melodic Morenia - - [ ] ROS 1 Noetic Ninjemys - - [ ] ROS 2 Dashing Diademata - - [ ] ROS 2 Eloquent Elusor + - [ ] ROS Kinetic Kame (EOL) + - [ ] ROS Melodic Morenia + - [ ] ROS Noetic Ninjemys + - [ ] ROS 2 Dashing Diademata (EOL) + - [ ] ROS 2 Eloquent Elusor (EOL) - [ ] ROS 2 Foxy Fitzroy - - [ ] etc (PLEASE, WRITE DOWN YOUR ROS VERSION HERE) + - [ ] ROS 2 Galactic Geochelone + - [ ] ROS 2 Rolling Ridley 5. Which OS is installed on Remote PC? - [ ] Ubuntu 16.04 LTS (Xenial Xerus) - [ ] Ubuntu 18.04 LTS (Bionic Beaver) - [ ] Ubuntu 20.04 LTS (Focal Fossa) - - [ ] etc (PLEASE, WRITE DOWN YOUR OS) - -6. Steps to reproduce the issue + - [ ] other (PLEASE, WRITE DOWN YOUR OS) - - +6. Please describe the issue. -7. Paste error messages printed on the screen - - +7. Copy & paste error messages printed on the screen. Screenshots or video clips are welcome. -9. Describe the issue in detail - - HERE +8. How to reproduce the issue? diff --git a/README.md b/README.md index 06e12a41..ea578049 100644 --- a/README.md +++ b/README.md @@ -2,15 +2,13 @@ [![kinetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/kinetic-devel) - [![melodic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/melodic-devel) - [![noetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/noetic-devel) [![dashing-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/dashing-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/dashing-devel) - [![foxy-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/foxy-devel) - +[![galactic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/galactic-devel) +[![rolling(ros2 branch) Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/ros2/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/ros2) ## ROBOTIS e-Manual for TurtleBot3 - [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) diff --git a/turtlebot3/CHANGELOG.rst b/turtlebot3/CHANGELOG.rst index 8ba6c4fa..8bfa30bf 100644 --- a/turtlebot3/CHANGELOG.rst +++ b/turtlebot3/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package turtlebot3 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.1.3 (2021-09-02) +------------------ +* ROS 2 Rolling Ridley supported +* fix ambiguous ParameterValue calls (#748, #736) +* fix RViz2 Cartographer default config +* Contributors: m2-farzan, Will Son + 2.1.2 (2021-04-07) ------------------ * use static param types for Galactic diff --git a/turtlebot3/package.xml b/turtlebot3/package.xml index c673850e..d2533d5e 100644 --- a/turtlebot3/package.xml +++ b/turtlebot3/package.xml @@ -2,7 +2,7 @@ turtlebot3 - 2.1.2 + 2.1.3 ROS 2 packages for TurtleBot3 diff --git a/turtlebot3_bringup/CHANGELOG.rst b/turtlebot3_bringup/CHANGELOG.rst index e961275b..bd24c06c 100644 --- a/turtlebot3_bringup/CHANGELOG.rst +++ b/turtlebot3_bringup/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package turtlebot3_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.1.3 (2021-09-02) +------------------ +* ROS 2 Rolling Ridley supported +* fix ambiguous ParameterValue calls (#748, #736) +* Contributors: m2-farzan, Will Son + 2.1.2 (2021-04-07) ------------------ * rename nav2 params diff --git a/turtlebot3_bringup/CMakeLists.txt b/turtlebot3_bringup/CMakeLists.txt index 0208aa8a..cd950da6 100644 --- a/turtlebot3_bringup/CMakeLists.txt +++ b/turtlebot3_bringup/CMakeLists.txt @@ -21,7 +21,7 @@ find_package(ament_cmake REQUIRED) # Install ################################################################################ install( - DIRECTORY launch param + DIRECTORY launch param script DESTINATION share/${PROJECT_NAME} ) diff --git a/turtlebot3_bringup/package.xml b/turtlebot3_bringup/package.xml index a4bca202..77192c86 100644 --- a/turtlebot3_bringup/package.xml +++ b/turtlebot3_bringup/package.xml @@ -2,7 +2,7 @@ turtlebot3_bringup - 2.1.2 + 2.1.3 ROS 2 launch scripts for starting the TurtleBot3 diff --git a/turtlebot3_bringup/param/burger.yaml b/turtlebot3_bringup/param/burger.yaml index 0d6445d7..5263900a 100644 --- a/turtlebot3_bringup/param/burger.yaml +++ b/turtlebot3_bringup/param/burger.yaml @@ -18,14 +18,11 @@ turtlebot3_node: profile_acceleration: 0.0 sensors: - bumper_1: false - bumper_2: false - - illumination: false - - ir: false - - sonar: false + bumper_1: 0 + bumper_2: 0 + illumination: 0 + ir: 0 + sonar: 0 diff_drive_controller: ros__parameters: diff --git a/turtlebot3_bringup/param/waffle.yaml b/turtlebot3_bringup/param/waffle.yaml index 4693b835..4154b300 100644 --- a/turtlebot3_bringup/param/waffle.yaml +++ b/turtlebot3_bringup/param/waffle.yaml @@ -18,14 +18,11 @@ turtlebot3_node: profile_acceleration: 0.0 sensors: - bumper_1: false - bumper_2: false - - illumination: false - - ir: false - - sonar: false + bumper_1: 0 + bumper_2: 0 + illumination: 0 + ir: 0 + sonar: 0 diff_drive_controller: ros__parameters: diff --git a/turtlebot3_bringup/param/waffle_pi.yaml b/turtlebot3_bringup/param/waffle_pi.yaml index 4693b835..4154b300 100644 --- a/turtlebot3_bringup/param/waffle_pi.yaml +++ b/turtlebot3_bringup/param/waffle_pi.yaml @@ -18,14 +18,11 @@ turtlebot3_node: profile_acceleration: 0.0 sensors: - bumper_1: false - bumper_2: false - - illumination: false - - ir: false - - sonar: false + bumper_1: 0 + bumper_2: 0 + illumination: 0 + ir: 0 + sonar: 0 diff_drive_controller: ros__parameters: diff --git a/turtlebot3_bringup/99-turtlebot3-cdc.rules b/turtlebot3_bringup/script/99-turtlebot3-cdc.rules similarity index 100% rename from turtlebot3_bringup/99-turtlebot3-cdc.rules rename to turtlebot3_bringup/script/99-turtlebot3-cdc.rules diff --git a/turtlebot3_bringup/script/create_udev_rules b/turtlebot3_bringup/script/create_udev_rules new file mode 100644 index 00000000..3408de2d --- /dev/null +++ b/turtlebot3_bringup/script/create_udev_rules @@ -0,0 +1,14 @@ +#!/bin/bash + +echo "" +echo "This script copies a udev rule to /etc to facilitate bringing" +echo "up the turtlebot3 usb connection." +echo "" + +sudo cp `sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/ + +echo "" +echo "Reload rules" +echo "" +sudo udevadm control --reload-rules +sudo udevadm trigger diff --git a/turtlebot3_cartographer/CHANGELOG.rst b/turtlebot3_cartographer/CHANGELOG.rst index afa62e9a..72b3a71e 100644 --- a/turtlebot3_cartographer/CHANGELOG.rst +++ b/turtlebot3_cartographer/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package turtlebot3_cartographer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.1.3 (2021-09-02) +------------------ +* ROS 2 Rolling Ridley supported +* fix RViz2 Cartographer default config +* Contributors: Will Son + 2.1.2 (2021-04-07) ------------------ * rename nav2 params diff --git a/turtlebot3_cartographer/package.xml b/turtlebot3_cartographer/package.xml index 39151b07..8ef41bdd 100644 --- a/turtlebot3_cartographer/package.xml +++ b/turtlebot3_cartographer/package.xml @@ -2,7 +2,7 @@ turtlebot3_cartographer - 2.1.2 + 2.1.3 ROS 2 launch scripts for cartographer diff --git a/turtlebot3_cartographer/rviz/tb3_cartographer.rviz b/turtlebot3_cartographer/rviz/tb3_cartographer.rviz index 14d6ce02..8280c12d 100644 --- a/turtlebot3_cartographer/rviz/tb3_cartographer.rviz +++ b/turtlebot3_cartographer/rviz/tb3_cartographer.rviz @@ -4,10 +4,7 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /Global Options1 - /TF1/Frames1 - - /LaserScan1 - - /Cartographer1 Splitter Ratio: 0.5794117450714111 Tree Height: 785 - Class: rviz_common/Selection @@ -356,8 +353,8 @@ Visualization Manager: Position Transformer: XYZ Selectable: true Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Points + Size (m): 0.03 + Style: Tiles Topic: Depth: 5 Durability Policy: Volatile @@ -445,26 +442,21 @@ Visualization Manager: Value: true Views: Current: - Class: rviz_default_plugins/Orbit - Distance: 6.2725830078125 + Angle: -1.5707999467849731 + Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Focal Point: - X: 1.4347907304763794 - Y: 0.42844799160957336 - Z: 0.801936149597168 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.17479735612869263 + Scale: 86.12762451171875 Target Frame: - Value: Orbit (rviz) - Yaw: 3.795415163040161 + Value: TopDownOrtho (rviz_default_plugins) + X: 1.165248990058899 + Y: 0.4727824032306671 Saved: ~ Window Geometry: Displays: diff --git a/turtlebot3_description/CHANGELOG.rst b/turtlebot3_description/CHANGELOG.rst index 2c81d7a8..0e9faa88 100644 --- a/turtlebot3_description/CHANGELOG.rst +++ b/turtlebot3_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.1.3 (2021-09-02) +------------------ +* ROS 2 Rolling Ridley supported +* Contributors: Will Son + 2.1.2 (2021-04-07) ------------------ * None diff --git a/turtlebot3_description/package.xml b/turtlebot3_description/package.xml index 23dfeace..3dfeabbb 100644 --- a/turtlebot3_description/package.xml +++ b/turtlebot3_description/package.xml @@ -2,7 +2,7 @@ turtlebot3_description - 2.1.2 + 2.1.3 3D models of the TurtleBot3 for simulation and visualization diff --git a/turtlebot3_example/CHANGELOG.rst b/turtlebot3_example/CHANGELOG.rst index d94f4e6f..e12d2bd0 100644 --- a/turtlebot3_example/CHANGELOG.rst +++ b/turtlebot3_example/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_example ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.1.3 (2021-09-02) +------------------ +* ROS 2 Rolling Ridley supported +* Contributors: Will Son + 2.1.2 (2021-04-07) ------------------ * None diff --git a/turtlebot3_example/package.xml b/turtlebot3_example/package.xml index 676f49c9..095105ce 100644 --- a/turtlebot3_example/package.xml +++ b/turtlebot3_example/package.xml @@ -2,7 +2,7 @@ turtlebot3_example - 2.1.2 + 2.1.3 This package provides four basic examples for TurtleBot3 (i.e., interactive marker, object detection, patrol and position control). diff --git a/turtlebot3_example/setup.py b/turtlebot3_example/setup.py index 9f14991d..b8860d11 100644 --- a/turtlebot3_example/setup.py +++ b/turtlebot3_example/setup.py @@ -5,7 +5,7 @@ setup( name=package_name, - version='2.1.2', + version='2.1.3', packages=find_packages(), data_files=[ ('share/ament_index/resource_index/packages', ['resource/' + package_name]), diff --git a/turtlebot3_navigation2/CHANGELOG.rst b/turtlebot3_navigation2/CHANGELOG.rst index 67eb4652..a0d4a0f8 100644 --- a/turtlebot3_navigation2/CHANGELOG.rst +++ b/turtlebot3_navigation2/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_navigation2 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.1.3 (2021-09-02) +------------------ +* ROS 2 Rolling Ridley supported +* Contributors: Will Son + 2.1.2 (2021-04-07) ------------------ * rename nav2 params diff --git a/turtlebot3_navigation2/package.xml b/turtlebot3_navigation2/package.xml index 90e96b32..aa9207a5 100644 --- a/turtlebot3_navigation2/package.xml +++ b/turtlebot3_navigation2/package.xml @@ -2,7 +2,7 @@ turtlebot3_navigation2 - 2.1.2 + 2.1.3 ROS 2 launch scripts for navigation2 diff --git a/turtlebot3_node/CHANGELOG.rst b/turtlebot3_node/CHANGELOG.rst index 1849ea25..fa746eb1 100644 --- a/turtlebot3_node/CHANGELOG.rst +++ b/turtlebot3_node/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package turtlebot3_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.1.3 (2021-09-02) +------------------ +* ROS 2 Rolling Ridley supported +* fix ambiguous ParameterValue calls (#748, #736) +* fix RViz2 Cartographer default config +* Contributors: m2-farzan, Will Son + 2.1.2 (2021-04-07) ------------------ * use static param types for Galactic diff --git a/turtlebot3_node/include/turtlebot3_node/dynamixel_sdk_wrapper.hpp b/turtlebot3_node/include/turtlebot3_node/dynamixel_sdk_wrapper.hpp index 87e2bc6f..9309285d 100644 --- a/turtlebot3_node/include/turtlebot3_node/dynamixel_sdk_wrapper.hpp +++ b/turtlebot3_node/include/turtlebot3_node/dynamixel_sdk_wrapper.hpp @@ -50,7 +50,7 @@ class DynamixelSDKWrapper { std::string usb_port; uint8_t id; - uint32_t baud_rate; + int baud_rate; float protocol_version; } Device; diff --git a/turtlebot3_node/include/turtlebot3_node/sensors/sensor_state.hpp b/turtlebot3_node/include/turtlebot3_node/sensors/sensor_state.hpp index eebf3c1a..be536b59 100644 --- a/turtlebot3_node/include/turtlebot3_node/sensors/sensor_state.hpp +++ b/turtlebot3_node/include/turtlebot3_node/sensors/sensor_state.hpp @@ -36,11 +36,11 @@ class SensorState : public Sensors explicit SensorState( std::shared_ptr & nh, const std::string & topic_name = "sensor_state", - const bool & bumper_forward = false, - const bool & bumper_backward = false, - const bool & illumination = false, - const bool & cliff = false, - const bool & sonar = false); + const uint8_t & bumper_forward = 0, + const uint8_t & bumper_backward = 0, + const uint8_t & illumination = 0, + const uint8_t & cliff = 0, + const uint8_t & sonar = 0); void publish( const rclcpp::Time & now, @@ -49,11 +49,11 @@ class SensorState : public Sensors private: rclcpp::Publisher::SharedPtr pub_; - bool bumper_forward_; - bool bumper_backward_; - bool illumination_; - bool cliff_; - bool sonar_; + uint8_t bumper_forward_; + uint8_t bumper_backward_; + uint8_t illumination_; + uint8_t cliff_; + uint8_t sonar_; }; } // namespace sensors } // namespace turtlebot3 diff --git a/turtlebot3_node/package.xml b/turtlebot3_node/package.xml index 4c24a166..836e2b14 100644 --- a/turtlebot3_node/package.xml +++ b/turtlebot3_node/package.xml @@ -2,7 +2,7 @@ turtlebot3_node - 2.1.2 + 2.1.3 TurtleBot3 driver node that include diff drive controller, odometry and tf node diff --git a/turtlebot3_node/param/burger.yaml b/turtlebot3_node/param/burger.yaml index 0d6445d7..5263900a 100644 --- a/turtlebot3_node/param/burger.yaml +++ b/turtlebot3_node/param/burger.yaml @@ -18,14 +18,11 @@ turtlebot3_node: profile_acceleration: 0.0 sensors: - bumper_1: false - bumper_2: false - - illumination: false - - ir: false - - sonar: false + bumper_1: 0 + bumper_2: 0 + illumination: 0 + ir: 0 + sonar: 0 diff_drive_controller: ros__parameters: diff --git a/turtlebot3_node/param/waffle.yaml b/turtlebot3_node/param/waffle.yaml index 4693b835..4154b300 100644 --- a/turtlebot3_node/param/waffle.yaml +++ b/turtlebot3_node/param/waffle.yaml @@ -18,14 +18,11 @@ turtlebot3_node: profile_acceleration: 0.0 sensors: - bumper_1: false - bumper_2: false - - illumination: false - - ir: false - - sonar: false + bumper_1: 0 + bumper_2: 0 + illumination: 0 + ir: 0 + sonar: 0 diff_drive_controller: ros__parameters: diff --git a/turtlebot3_node/param/waffle_pi.yaml b/turtlebot3_node/param/waffle_pi.yaml index 4693b835..4154b300 100644 --- a/turtlebot3_node/param/waffle_pi.yaml +++ b/turtlebot3_node/param/waffle_pi.yaml @@ -18,14 +18,11 @@ turtlebot3_node: profile_acceleration: 0.0 sensors: - bumper_1: false - bumper_2: false - - illumination: false - - ir: false - - sonar: false + bumper_1: 0 + bumper_2: 0 + illumination: 0 + ir: 0 + sonar: 0 diff_drive_controller: ros__parameters: diff --git a/turtlebot3_node/src/sensors/sensor_state.cpp b/turtlebot3_node/src/sensors/sensor_state.cpp index 27cde4ba..2aa32091 100644 --- a/turtlebot3_node/src/sensors/sensor_state.cpp +++ b/turtlebot3_node/src/sensors/sensor_state.cpp @@ -25,11 +25,11 @@ using robotis::turtlebot3::sensors::SensorState; SensorState::SensorState( std::shared_ptr & nh, const std::string & topic_name, - const bool & bumper_forward, - const bool & bumper_backward, - const bool & illumination, - const bool & cliff, - const bool & sonar) + const uint8_t & bumper_forward, + const uint8_t & bumper_backward, + const uint8_t & illumination, + const uint8_t & cliff, + const uint8_t & sonar) : Sensors(nh), bumper_forward_(bumper_forward), bumper_backward_(bumper_backward), diff --git a/turtlebot3_node/src/turtlebot3.cpp b/turtlebot3_node/src/turtlebot3.cpp index 2a27c133..3a7291bd 100644 --- a/turtlebot3_node/src/turtlebot3.cpp +++ b/turtlebot3_node/src/turtlebot3.cpp @@ -54,11 +54,11 @@ void TurtleBot3::init_dynamixel_sdk_wrapper(const std::string & usb_port) DynamixelSDKWrapper::Device opencr = {usb_port, 200, 1000000, 2.0f}; this->declare_parameter("opencr.id"); - this->declare_parameter("opencr.baud_rate"); + this->declare_parameter("opencr.baud_rate"); this->declare_parameter("opencr.protocol_version"); this->get_parameter_or("opencr.id", opencr.id, 200); - this->get_parameter_or("opencr.baud_rate", opencr.baud_rate, 1000000); + this->get_parameter_or("opencr.baud_rate", opencr.baud_rate, 1000000); this->get_parameter_or("opencr.protocol_version", opencr.protocol_version, 2.0f); RCLCPP_INFO(this->get_logger(), "Init DynamixelSDKWrapper"); @@ -142,23 +142,38 @@ void TurtleBot3::add_sensors() { RCLCPP_INFO(this->get_logger(), "Add Sensors"); + uint8_t is_connected_bumper_1 = 0; + uint8_t is_connected_bumper_2 = 0; + uint8_t is_connected_illumination = 0; + uint8_t is_connected_ir = 0; + uint8_t is_connected_sonar = 0; + this->declare_parameter("sensors.bumper_1"); this->declare_parameter("sensors.bumper_2"); - - this->declare_parameter("sensors.illumination"); - - this->declare_parameter("sensors.ir"); - - this->declare_parameter("sensors.sonar"); - - bool is_connected_bumper_1 = this->get_parameter("sensors.bumper_1").as_bool(); - bool is_connected_bumper_2 = this->get_parameter("sensors.bumper_2").as_bool(); - - bool is_connected_illumination = this->get_parameter("sensors.illumination").as_bool(); - - bool is_connected_ir = this->get_parameter("sensors.ir").as_bool(); - - bool is_connected_sonar = this->get_parameter("sensors.sonar").as_bool(); + this->declare_parameter("sensors.illumination"); + this->declare_parameter("sensors.ir"); + this->declare_parameter("sensors.sonar"); + + this->get_parameter_or( + "sensors.bumper_1", + is_connected_bumper_1, + 0); + this->get_parameter_or( + "sensors.bumper_2", + is_connected_bumper_2, + 0); + this->get_parameter_or( + "sensors.illumination", + is_connected_illumination, + 0); + this->get_parameter_or( + "sensors.ir", + is_connected_ir, + 0); + this->get_parameter_or( + "sensors.sonar", + is_connected_sonar, + 0); sensors_.push_back( new sensors::BatteryState( diff --git a/turtlebot3_teleop/CHANGELOG.rst b/turtlebot3_teleop/CHANGELOG.rst index 5b023f0b..31add83e 100644 --- a/turtlebot3_teleop/CHANGELOG.rst +++ b/turtlebot3_teleop/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_teleop ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.1.3 (2021-09-02) +------------------ +* ROS 2 Rolling Ridley supported +* Contributors: Will Son + 2.1.2 (2021-04-07) ------------------ * None diff --git a/turtlebot3_teleop/package.xml b/turtlebot3_teleop/package.xml index de4ba2ed..40bf484f 100644 --- a/turtlebot3_teleop/package.xml +++ b/turtlebot3_teleop/package.xml @@ -2,7 +2,7 @@ turtlebot3_teleop - 2.1.2 + 2.1.3 Teleoperation node using keyboard for TurtleBot3. diff --git a/turtlebot3_teleop/setup.py b/turtlebot3_teleop/setup.py index 04f71607..887c3175 100644 --- a/turtlebot3_teleop/setup.py +++ b/turtlebot3_teleop/setup.py @@ -5,7 +5,7 @@ setup( name=package_name, - version='2.1.2', + version='2.1.3', packages=find_packages(exclude=[]), data_files=[ ('share/ament_index/resource_index/packages', ['resource/' + package_name]),