From 39db34b62499645dd433725bbb8b536e18488db1 Mon Sep 17 00:00:00 2001 From: nabeya11 <37445609+nabeya11@users.noreply.github.com> Date: Sat, 6 Nov 2021 17:40:44 +0900 Subject: [PATCH 01/16] Update turtlebot3_manipulation_bringup.cpp 1. fix hang when jnt_tra_pts_size is less than POINTS_STEP_SIZE 2. deal with the possibility that last points of trajectory will not be added --- .../src/turtlebot3_manipulation_bringup.cpp | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp b/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp index 38dad01..0760671 100644 --- a/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp +++ b/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp @@ -48,7 +48,12 @@ void Turtlebot3ManipulationBringup::armActionCallback(const control_msgs::Follow uint32_t jnt_tra_pts_size = jnt_tra.points.size(); const uint8_t POINTS_STEP_SIZE = 10; - uint32_t steps = floor((double)jnt_tra_pts_size/(double)POINTS_STEP_SIZE); + if(jnt_tra_pts_size == 0){ + //received empty trajectory + arm_action_server_.setAborted(); + return; + } + uint32_t steps = jnt_tra_pts_size/POINTS_STEP_SIZE + 1; for (uint32_t i = 0; i < jnt_tra_pts_size; i = i + steps) { @@ -58,6 +63,14 @@ void Turtlebot3ManipulationBringup::armActionCallback(const control_msgs::Follow jnt_tra_pts.data.push_back(jnt_tra.points[i].positions[j]); } } + if(jnt_tra_pts_size % POINTS_STEP_SIZE){ + //set last positions + jnt_tra_pts.data.push_back(jnt_tra.points[jnt_tra_pts_size-1].time_from_start.toSec()); + for (std::vector::size_type j = 0; j < jnt_tra.points[jnt_tra_pts_size-1].positions.size(); j++) + { + jnt_tra_pts.data.push_back(jnt_tra.points[jnt_tra_pts_size-1].positions[j]); + } + } joint_trajectory_point_pub_.publish(jnt_tra_pts); arm_action_server_.setSucceeded(); From 18af51c38d2c677ec3fd00752dcf7c3e6069f7d5 Mon Sep 17 00:00:00 2001 From: nabeya11 <37445609+nabeya11@users.noreply.github.com> Date: Sat, 6 Nov 2021 17:44:48 +0900 Subject: [PATCH 02/16] fix previous commit --- .../src/turtlebot3_manipulation_bringup.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp b/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp index 0760671..180de5a 100644 --- a/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp +++ b/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp @@ -63,7 +63,7 @@ void Turtlebot3ManipulationBringup::armActionCallback(const control_msgs::Follow jnt_tra_pts.data.push_back(jnt_tra.points[i].positions[j]); } } - if(jnt_tra_pts_size % POINTS_STEP_SIZE){ + if(jnt_tra_pts_size % steps){ //set last positions jnt_tra_pts.data.push_back(jnt_tra.points[jnt_tra_pts_size-1].time_from_start.toSec()); for (std::vector::size_type j = 0; j < jnt_tra.points[jnt_tra_pts_size-1].positions.size(); j++) From be68a6fd0fbe2498b2d23bea49168cba5d045400 Mon Sep 17 00:00:00 2001 From: nabeya11 Date: Wed, 24 Nov 2021 10:18:27 +0900 Subject: [PATCH 03/16] fix lastpoint publish&chked correct moving --- .../src/turtlebot3_manipulation_bringup.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp b/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp index 180de5a..3181725 100644 --- a/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp +++ b/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp @@ -63,7 +63,7 @@ void Turtlebot3ManipulationBringup::armActionCallback(const control_msgs::Follow jnt_tra_pts.data.push_back(jnt_tra.points[i].positions[j]); } } - if(jnt_tra_pts_size % steps){ + if((jnt_tra_pts_size-1) % steps){ //set last positions jnt_tra_pts.data.push_back(jnt_tra.points[jnt_tra_pts_size-1].time_from_start.toSec()); for (std::vector::size_type j = 0; j < jnt_tra.points[jnt_tra_pts_size-1].positions.size(); j++) From 9788935cb26ec4bc7faae6d4e606ccd5bdb95944 Mon Sep 17 00:00:00 2001 From: ROBOTIS-Will Date: Tue, 28 Dec 2021 11:37:08 +0900 Subject: [PATCH 04/16] merging #41 Signed-off-by: ROBOTIS-Will --- .github/workflows/ros-ci.yml | 52 +++++++++++++++++++ .travis.yml | 38 -------------- README.md | 12 +++-- turtlebot3_manipulation/CHANGELOG.rst | 5 ++ turtlebot3_manipulation/package.xml | 3 +- turtlebot3_manipulation_bringup/package.xml | 3 +- .../package.xml | 4 +- turtlebot3_manipulation_gui/package.xml | 4 +- .../package.xml | 4 +- .../package.xml | 2 +- turtlebot3_manipulation_slam/package.xml | 2 +- 11 files changed, 75 insertions(+), 54 deletions(-) create mode 100644 .github/workflows/ros-ci.yml delete mode 100644 .travis.yml diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml new file mode 100644 index 0000000..8b34b33 --- /dev/null +++ b/.github/workflows/ros-ci.yml @@ -0,0 +1,52 @@ +name: ros-ci + +# Controls when the action will run. Triggers the workflow on push or pull request +on: + push: + branches: [ master, develop ] + pull_request: + branches: [ master, develop ] + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + master-ci: + runs-on: ubuntu-latest + strategy: + fail-fast: false + matrix: + ros_distribution: + # - kinetic + - melodic + - noetic + include: + # Kinetic Kame (May 2016 - May 2021) + # - docker_image: ubuntu:xenial + # ros_distribution: kinetic + # ros_version: 1 + # Melodic Morenia (May 2018 - May 2023) + - docker_image: ubuntu:bionic + ros_distribution: melodic + ros_version: 1 + # Noetic Ninjemys (May 2020 - May 2025) + - docker_image: ubuntu:focal + ros_distribution: noetic + ros_version: 1 + container: + image: ${{ matrix.docker_image }} + steps: + - name: Setup directories + run: mkdir -p ros_ws/src + - name: checkout + uses: actions/checkout@v2 + with: + path: ros_ws/src + - name: Setup ROS environment + uses: ros-tooling/setup-ros@0.1.2 + with: + required-ros-distributions: ${{ matrix.ros_distribution }} + - name: Build and Test + uses: ros-tooling/action-ros-ci@v0.2 + with: + package-name: turtlebot3_manipulation + target-ros1-distro: ${{ matrix.ros_distribution }} + vcs-repo-file-url: "" diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 5bee498..0000000 --- a/.travis.yml +++ /dev/null @@ -1,38 +0,0 @@ -# This config file for Travis CI utilizes ros-industrial/industrial_ci package. -# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst - -sudo: required -dist: trusty -services: - - docker -language: generic -python: - - "2.7" -compiler: - - gcc -notifications: - email: - on_success: change - on_failure: always - recipients: - - jhshim@robotis.com - - willson@robotis.com - # - pyo@robotis.com -env: - matrix: - - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=xenial - - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=bionic - - 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=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: - - source .ci_config/travis.sh diff --git a/README.md b/README.md index 4d7c842..d41c23f 100644 --- a/README.md +++ b/README.md @@ -3,12 +3,16 @@ ## ROS Packages for TurtleBot3 Manipulation -|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic| -|:---:|:---:|:---:| -|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3_manipulation.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3_manipulation)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation.svg?branch=melodic-devel)](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation)| + +[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3_manipulation.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3_manipulation) + +[![kinetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/tree/kinetic-devel) +[![melodic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/tree/melodic-devel) +[![noetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/tree/noetic-devel) + ## ROBOTIS e-Manual for TurtleBot3 Manipulation -- [ROBOTIS e-Manual for TurtleBot3 Manipulation](http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation) +- [ROBOTIS e-Manual for TurtleBot3 Manipulation](https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation) ## Wiki for open_manipulator_with_tb3 Packages - http://wiki.ros.org/open_manipulator_with_tb3 (metapackage) diff --git a/turtlebot3_manipulation/CHANGELOG.rst b/turtlebot3_manipulation/CHANGELOG.rst index 76f1149..ce72cda 100644 --- a/turtlebot3_manipulation/CHANGELOG.rst +++ b/turtlebot3_manipulation/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_manipulation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.0.3 (2021-12-28) +------------------ +* fix small trajectory step handling issue(#41) +* Contributors: nabeya11 + 2.0.2 (2020-03-06) ------------------ * package name changed from open_manipulator_with_tb3 to turtlebot3_manipulation diff --git a/turtlebot3_manipulation/package.xml b/turtlebot3_manipulation/package.xml index 75f3a51..bb98290 100644 --- a/turtlebot3_manipulation/package.xml +++ b/turtlebot3_manipulation/package.xml @@ -1,12 +1,11 @@ turtlebot3_manipulation - 2.0.2 + 2.0.3 ROS packages for turtlebot3_manipulation Apache 2.0 Ryan Shim - Ryan Shim WIll Son http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation diff --git a/turtlebot3_manipulation_bringup/package.xml b/turtlebot3_manipulation_bringup/package.xml index 3a063d7..7cec8fe 100644 --- a/turtlebot3_manipulation_bringup/package.xml +++ b/turtlebot3_manipulation_bringup/package.xml @@ -1,12 +1,11 @@ turtlebot3_manipulation_bringup - 2.0.2 + 2.0.3 ROS package for turtlebot3_manipulation_bringup Apache 2.0 Darby Lim - Ryan Shim Pyo http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation diff --git a/turtlebot3_manipulation_description/package.xml b/turtlebot3_manipulation_description/package.xml index 40aef15..c74db9f 100644 --- a/turtlebot3_manipulation_description/package.xml +++ b/turtlebot3_manipulation_description/package.xml @@ -1,13 +1,13 @@ turtlebot3_manipulation_description - 2.0.2 + 2.0.3 ROS package for turtlebot3_manipulation_description Apache 2.0 Darby Lim Ryan Shim - Pyo + Will Son http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation https://github.com/ROBOTIS-GIT/turtlebot3_manipulation diff --git a/turtlebot3_manipulation_gui/package.xml b/turtlebot3_manipulation_gui/package.xml index d2cc6ba..6b1a289 100644 --- a/turtlebot3_manipulation_gui/package.xml +++ b/turtlebot3_manipulation_gui/package.xml @@ -1,13 +1,13 @@ turtlebot3_manipulation_gui - 2.0.2 + 2.0.3 ROS package for turtlebot3_manipulation_gui Apache 2.0 Darby Lim Ryan Shim - Pyo + Will Son http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation https://github.com/ROBOTIS-GIT/turtlebot3_manipulation diff --git a/turtlebot3_manipulation_moveit_config/package.xml b/turtlebot3_manipulation_moveit_config/package.xml index d0e6069..d1cdd01 100644 --- a/turtlebot3_manipulation_moveit_config/package.xml +++ b/turtlebot3_manipulation_moveit_config/package.xml @@ -1,12 +1,12 @@ turtlebot3_manipulation_moveit_config - 2.0.2 + 2.0.3 An automatically generated package with all the configuration and launch files for using the turtlebot3_manipulation with the MoveIt! Motion Planning Framework Ryan Shim - Ryan Shim + Will Son BSD diff --git a/turtlebot3_manipulation_navigation/package.xml b/turtlebot3_manipulation_navigation/package.xml index a6e1c7e..66bb272 100644 --- a/turtlebot3_manipulation_navigation/package.xml +++ b/turtlebot3_manipulation_navigation/package.xml @@ -1,7 +1,7 @@ turtlebot3_manipulation_navigation - 2.0.2 + 2.0.3 The turtlebot3_manipulation_navigation package added. diff --git a/turtlebot3_manipulation_slam/package.xml b/turtlebot3_manipulation_slam/package.xml index ad7dd71..379ac30 100644 --- a/turtlebot3_manipulation_slam/package.xml +++ b/turtlebot3_manipulation_slam/package.xml @@ -1,7 +1,7 @@ turtlebot3_manipulation_slam - 2.0.2 + 2.0.3 The turtlebot3_manipulation_slam package added. From 9763f2f6da8abb8a2e77c7f4d293d124ba8f9f1d Mon Sep 17 00:00:00 2001 From: ROBOTIS-Will Date: Tue, 28 Dec 2021 11:39:22 +0900 Subject: [PATCH 05/16] fix ci Signed-off-by: ROBOTIS-Will --- .github/workflows/ros-ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index 8b34b33..abf1e5a 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -41,7 +41,7 @@ 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 From 2e050129c189117301b3dd56e0ecdcc0dbf51bbd Mon Sep 17 00:00:00 2001 From: ROBOTIS-Will Date: Tue, 28 Dec 2021 12:00:30 +0900 Subject: [PATCH 06/16] fix ci options Signed-off-by: ROBOTIS-Will --- .github/workflows/ros-ci.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index abf1e5a..2591252 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -3,9 +3,9 @@ name: ros-ci # Controls when the action will run. Triggers the workflow on push or pull request on: push: - branches: [ master, develop ] + branches: [ master, develop, melodic-devel, noetic-devel ] pull_request: - branches: [ master, develop ] + branches: [ master, develop, melodic-devel, noetic-devel ] # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: From bb98a9e691dcf3c55b35e0b17d4c5b5bebcce0a1 Mon Sep 17 00:00:00 2001 From: yun-goon Date: Mon, 28 Oct 2024 11:50:13 +0900 Subject: [PATCH 07/16] Added namespace of xacro at OM-X gazebo --- .../urdf/open_manipulator_x.gazebo.xacro | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/turtlebot3_manipulation_description/urdf/open_manipulator_x.gazebo.xacro b/turtlebot3_manipulation_description/urdf/open_manipulator_x.gazebo.xacro index 7fd3a22..b558715 100644 --- a/turtlebot3_manipulation_description/urdf/open_manipulator_x.gazebo.xacro +++ b/turtlebot3_manipulation_description/urdf/open_manipulator_x.gazebo.xacro @@ -15,25 +15,25 @@ - + - + - + - + - + - + - + From 1a76088b81fabf444c56959c86dffb3e68de81a8 Mon Sep 17 00:00:00 2001 From: Sungho Woo Date: Tue, 29 Oct 2024 18:28:09 +0900 Subject: [PATCH 08/16] Updated changelog --- turtlebot3_manipulation/CHANGELOG.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/turtlebot3_manipulation/CHANGELOG.rst b/turtlebot3_manipulation/CHANGELOG.rst index ce72cda..c68cbd2 100644 --- a/turtlebot3_manipulation/CHANGELOG.rst +++ b/turtlebot3_manipulation/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_manipulation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.0.3 (2024-10-29) +------------------ +* resolve white color issue on robotic arm in Gazebo +* Contributors: Wonho Yoon + 2.0.3 (2021-12-28) ------------------ * fix small trajectory step handling issue(#41) From d57a888412e001912ced80a4a24b0acdb5aeeeba Mon Sep 17 00:00:00 2001 From: Sungho Woo Date: Tue, 29 Oct 2024 18:41:01 +0900 Subject: [PATCH 09/16] Adjust EOF position and remove unnecessary whitespace --- .../src/turtlebot3_manipulation_bringup.cpp | 12 ++++----- .../turtlebot3_manipulation_view.launch | 4 +-- .../open_manipulator_x.transmission.xacro | 2 +- turtlebot3_manipulation_gui/CMakeLists.txt | 6 ++--- .../src/main_window.cpp | 2 +- turtlebot3_manipulation_gui/src/qnode.cpp | 26 +++++++++---------- .../config/chomp_planning.yaml | 2 +- .../config/fake_controllers.yaml | 2 +- .../config/joint_limits.yaml | 2 +- .../config/ompl_planning.yaml | 2 +- .../config/sensors_3d.yaml | 2 +- .../launch/demo.launch | 2 +- .../launch/demo_gazebo.launch | 4 +-- .../launch/navigation.launch | 4 +-- .../config/scan_data_filter.yaml | 2 +- .../launch/slam.launch | 8 +++--- 16 files changed, 41 insertions(+), 41 deletions(-) diff --git a/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp b/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp index 3181725..d118571 100644 --- a/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp +++ b/turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp @@ -21,13 +21,13 @@ Turtlebot3ManipulationBringup::Turtlebot3ManipulationBringup() : nh_(""), - arm_action_server_(nh_, - "arm_controller/follow_joint_trajectory", - boost::bind(&Turtlebot3ManipulationBringup::armActionCallback, this, _1), + arm_action_server_(nh_, + "arm_controller/follow_joint_trajectory", + boost::bind(&Turtlebot3ManipulationBringup::armActionCallback, this, _1), false), - gripper_action_server_(nh_, - "gripper_controller/follow_joint_trajectory", - boost::bind(&Turtlebot3ManipulationBringup::gripperActionCallback, this, _1), + gripper_action_server_(nh_, + "gripper_controller/follow_joint_trajectory", + boost::bind(&Turtlebot3ManipulationBringup::gripperActionCallback, this, _1), false) { // Init Publisher diff --git a/turtlebot3_manipulation_description/launch/turtlebot3_manipulation_view.launch b/turtlebot3_manipulation_description/launch/turtlebot3_manipulation_view.launch index a5f6a43..955af0a 100644 --- a/turtlebot3_manipulation_description/launch/turtlebot3_manipulation_view.launch +++ b/turtlebot3_manipulation_description/launch/turtlebot3_manipulation_view.launch @@ -6,14 +6,14 @@ - + ["/joint_states"] - + diff --git a/turtlebot3_manipulation_description/urdf/open_manipulator_x.transmission.xacro b/turtlebot3_manipulation_description/urdf/open_manipulator_x.transmission.xacro index ecba695..af72c43 100644 --- a/turtlebot3_manipulation_description/urdf/open_manipulator_x.transmission.xacro +++ b/turtlebot3_manipulation_description/urdf/open_manipulator_x.transmission.xacro @@ -46,5 +46,5 @@ - + diff --git a/turtlebot3_manipulation_gui/CMakeLists.txt b/turtlebot3_manipulation_gui/CMakeLists.txt index e91c3e8..cfa218d 100644 --- a/turtlebot3_manipulation_gui/CMakeLists.txt +++ b/turtlebot3_manipulation_gui/CMakeLists.txt @@ -66,9 +66,9 @@ catkin_package( INCLUDE_DIRS include CATKIN_DEPENDS geometry_msgs - roscpp - std_msgs - sensor_msgs + roscpp + std_msgs + sensor_msgs moveit_msgs moveit_core moveit_ros_planning diff --git a/turtlebot3_manipulation_gui/src/main_window.cpp b/turtlebot3_manipulation_gui/src/main_window.cpp index caa9022..958d174 100644 --- a/turtlebot3_manipulation_gui/src/main_window.cpp +++ b/turtlebot3_manipulation_gui/src/main_window.cpp @@ -38,7 +38,7 @@ using namespace Qt; *****************************************************************************/ MainWindow::MainWindow(int argc, char** argv, QWidget *parent) - : QMainWindow(parent), + : QMainWindow(parent), qnode(argc,argv) { ui.setupUi(this); // Calling this incidentally connects all ui's triggers to on_...() callbacks in this class. diff --git a/turtlebot3_manipulation_gui/src/qnode.cpp b/turtlebot3_manipulation_gui/src/qnode.cpp index 0d3c63f..564dbbf 100644 --- a/turtlebot3_manipulation_gui/src/qnode.cpp +++ b/turtlebot3_manipulation_gui/src/qnode.cpp @@ -37,14 +37,14 @@ namespace turtlebot3_manipulation_gui { ** Implementation *****************************************************************************/ -QNode::QNode(int argc, char** argv) +QNode::QNode(int argc, char** argv) :init_argc(argc), init_argv(argv) {} QNode::~QNode() { - if(ros::isStarted()) + if(ros::isStarted()) { ros::shutdown(); // explicitly needed since we use ros::start(); ros::waitForShutdown(); @@ -55,15 +55,15 @@ QNode::~QNode() bool QNode::init() { ros::init(init_argc,init_argv,"turtlebot3_manipulation_gui"); - if ( ! ros::master::check() ) + if ( ! ros::master::check() ) { return false; } ros::start(); // explicitly needed since our nodehandle is going out of scope. ros::NodeHandle n(""); - // Moveit - ros::AsyncSpinner spinner(1); + // Moveit + ros::AsyncSpinner spinner(1); spinner.start(); // Move group arm @@ -93,7 +93,7 @@ void QNode::run() void QNode::updateRobotState() { - ros::AsyncSpinner spinner(1); + ros::AsyncSpinner spinner(1); spinner.start(); std::vector jointValues = move_group_->getCurrentJointValues(); @@ -106,7 +106,7 @@ void QNode::updateRobotState() temp_angle.push_back(jointValues2.at(0)); present_joint_angle_ = temp_angle; - geometry_msgs::Pose current_pose = move_group_->getCurrentPose().pose; + geometry_msgs::Pose current_pose = move_group_->getCurrentPose().pose; std::vector temp_position; temp_position.push_back(current_pose.position.x); temp_position.push_back(current_pose.position.y); @@ -126,13 +126,13 @@ std::vector QNode::getPresentKinematicsPosition() bool QNode::setJointSpacePath(std::vector joint_angle, double path_time) { - ros::AsyncSpinner spinner(1); + ros::AsyncSpinner spinner(1); spinner.start(); // Next get the current set of joint values for the group. const robot_state::JointModelGroup* joint_model_group = move_group_->getCurrentState()->getJointModelGroup("arm"); - + moveit::core::RobotStatePtr current_state = move_group_->getCurrentState(); std::vector joint_group_positions; @@ -158,7 +158,7 @@ bool QNode::setJointSpacePath(std::vector joint_angle, double path_time) bool QNode::setTaskSpacePath(std::vector kinematics_pose, double path_time) { - ros::AsyncSpinner spinner(1); + ros::AsyncSpinner spinner(1); spinner.start(); // Uncomment below to keep the end-effector parallel to the ground @@ -199,13 +199,13 @@ bool QNode::setTaskSpacePath(std::vector kinematics_pose, double path_ti bool QNode::setToolControl(std::vector joint_angle) { - ros::AsyncSpinner spinner(1); + ros::AsyncSpinner spinner(1); spinner.start(); // Next get the current set of joint values for the group. const robot_state::JointModelGroup* joint_model_group = move_group2_->getCurrentState()->getJointModelGroup("gripper"); - + moveit::core::RobotStatePtr current_state = move_group2_->getCurrentState(); std::vector joint_group_positions; @@ -223,6 +223,6 @@ bool QNode::setToolControl(std::vector joint_angle) move_group2_->move(); spinner.stop(); - return true; + return true; } } // namespace turtlebot3_manipulation_gui diff --git a/turtlebot3_manipulation_moveit_config/config/chomp_planning.yaml b/turtlebot3_manipulation_moveit_config/config/chomp_planning.yaml index 75258e5..f98e1c5 100644 --- a/turtlebot3_manipulation_moveit_config/config/chomp_planning.yaml +++ b/turtlebot3_manipulation_moveit_config/config/chomp_planning.yaml @@ -15,4 +15,4 @@ collision_clearence: 0.2 collision_threshold: 0.07 use_stochastic_descent: true enable_failure_recovery: true -max_recovery_attempts: 5 \ No newline at end of file +max_recovery_attempts: 5 diff --git a/turtlebot3_manipulation_moveit_config/config/fake_controllers.yaml b/turtlebot3_manipulation_moveit_config/config/fake_controllers.yaml index 70082a6..b991889 100644 --- a/turtlebot3_manipulation_moveit_config/config/fake_controllers.yaml +++ b/turtlebot3_manipulation_moveit_config/config/fake_controllers.yaml @@ -7,4 +7,4 @@ controller_list: - joint4 - name: fake_gripper_controller joints: - - gripper \ No newline at end of file + - gripper diff --git a/turtlebot3_manipulation_moveit_config/config/joint_limits.yaml b/turtlebot3_manipulation_moveit_config/config/joint_limits.yaml index 6908da0..cb4058a 100644 --- a/turtlebot3_manipulation_moveit_config/config/joint_limits.yaml +++ b/turtlebot3_manipulation_moveit_config/config/joint_limits.yaml @@ -31,4 +31,4 @@ joint_limits: has_velocity_limits: true max_velocity: 4.8 has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + max_acceleration: 0 diff --git a/turtlebot3_manipulation_moveit_config/config/ompl_planning.yaml b/turtlebot3_manipulation_moveit_config/config/ompl_planning.yaml index 6a2ec1c..a86affb 100644 --- a/turtlebot3_manipulation_moveit_config/config/ompl_planning.yaml +++ b/turtlebot3_manipulation_moveit_config/config/ompl_planning.yaml @@ -175,4 +175,4 @@ gripper: - SPARS - SPARStwo projection_evaluator: joints(gripper,gripper_sub) - longest_valid_segment_fraction: 0.005 \ No newline at end of file + longest_valid_segment_fraction: 0.005 diff --git a/turtlebot3_manipulation_moveit_config/config/sensors_3d.yaml b/turtlebot3_manipulation_moveit_config/config/sensors_3d.yaml index d2955dc..ecea991 100644 --- a/turtlebot3_manipulation_moveit_config/config/sensors_3d.yaml +++ b/turtlebot3_manipulation_moveit_config/config/sensors_3d.yaml @@ -1,3 +1,3 @@ # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it sensors: - - {} \ No newline at end of file + - {} diff --git a/turtlebot3_manipulation_moveit_config/launch/demo.launch b/turtlebot3_manipulation_moveit_config/launch/demo.launch index ca759f7..640a285 100644 --- a/turtlebot3_manipulation_moveit_config/launch/demo.launch +++ b/turtlebot3_manipulation_moveit_config/launch/demo.launch @@ -27,7 +27,7 @@ - + diff --git a/turtlebot3_manipulation_moveit_config/launch/demo_gazebo.launch b/turtlebot3_manipulation_moveit_config/launch/demo_gazebo.launch index 08dc3bd..77345c3 100644 --- a/turtlebot3_manipulation_moveit_config/launch/demo_gazebo.launch +++ b/turtlebot3_manipulation_moveit_config/launch/demo_gazebo.launch @@ -37,7 +37,7 @@ - + @@ -54,7 +54,7 @@ - + diff --git a/turtlebot3_manipulation_navigation/launch/navigation.launch b/turtlebot3_manipulation_navigation/launch/navigation.launch index a7b8f09..660770a 100644 --- a/turtlebot3_manipulation_navigation/launch/navigation.launch +++ b/turtlebot3_manipulation_navigation/launch/navigation.launch @@ -15,7 +15,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/turtlebot3_manipulation_slam/config/scan_data_filter.yaml b/turtlebot3_manipulation_slam/config/scan_data_filter.yaml index a36576e..8d220e0 100644 --- a/turtlebot3_manipulation_slam/config/scan_data_filter.yaml +++ b/turtlebot3_manipulation_slam/config/scan_data_filter.yaml @@ -3,4 +3,4 @@ scan_filter_chain: type: laser_filters/LaserScanAngularBoundsFilterInPlace params: lower_angle: 2.0944 - upper_angle: 4.18879 \ No newline at end of file + upper_angle: 4.18879 diff --git a/turtlebot3_manipulation_slam/launch/slam.launch b/turtlebot3_manipulation_slam/launch/slam.launch index e298a19..3e422d1 100644 --- a/turtlebot3_manipulation_slam/launch/slam.launch +++ b/turtlebot3_manipulation_slam/launch/slam.launch @@ -17,13 +17,13 @@ - + - + @@ -63,9 +63,9 @@ - + - \ No newline at end of file + From 198622153174cbe5dbe697e319055ab0bf5222ed Mon Sep 17 00:00:00 2001 From: Sungho Woo Date: Wed, 30 Oct 2024 11:49:28 +0900 Subject: [PATCH 10/16] Updated maintainer details --- turtlebot3_manipulation/package.xml | 2 +- turtlebot3_manipulation_description/package.xml | 2 +- turtlebot3_manipulation_gui/package.xml | 2 +- turtlebot3_manipulation_moveit_config/package.xml | 2 +- turtlebot3_manipulation_navigation/package.xml | 2 +- turtlebot3_manipulation_slam/package.xml | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/turtlebot3_manipulation/package.xml b/turtlebot3_manipulation/package.xml index bb98290..3aa71e2 100644 --- a/turtlebot3_manipulation/package.xml +++ b/turtlebot3_manipulation/package.xml @@ -6,7 +6,7 @@ Apache 2.0 Ryan Shim - WIll Son + Pyo http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation https://github.com/ROBOTIS-GIT/turtlebot3_manipulation diff --git a/turtlebot3_manipulation_description/package.xml b/turtlebot3_manipulation_description/package.xml index c74db9f..8d8bf8d 100644 --- a/turtlebot3_manipulation_description/package.xml +++ b/turtlebot3_manipulation_description/package.xml @@ -7,7 +7,7 @@ Apache 2.0 Darby Lim Ryan Shim - Will Son + Pyo http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation https://github.com/ROBOTIS-GIT/turtlebot3_manipulation diff --git a/turtlebot3_manipulation_gui/package.xml b/turtlebot3_manipulation_gui/package.xml index 6b1a289..112d061 100644 --- a/turtlebot3_manipulation_gui/package.xml +++ b/turtlebot3_manipulation_gui/package.xml @@ -7,7 +7,7 @@ Apache 2.0 Darby Lim Ryan Shim - Will Son + Pyo http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation https://github.com/ROBOTIS-GIT/turtlebot3_manipulation diff --git a/turtlebot3_manipulation_moveit_config/package.xml b/turtlebot3_manipulation_moveit_config/package.xml index d1cdd01..80e42e2 100644 --- a/turtlebot3_manipulation_moveit_config/package.xml +++ b/turtlebot3_manipulation_moveit_config/package.xml @@ -6,7 +6,7 @@ An automatically generated package with all the configuration and launch files for using the turtlebot3_manipulation with the MoveIt! Motion Planning Framework Ryan Shim - Will Son + Pyo BSD diff --git a/turtlebot3_manipulation_navigation/package.xml b/turtlebot3_manipulation_navigation/package.xml index 66bb272..37f6515 100644 --- a/turtlebot3_manipulation_navigation/package.xml +++ b/turtlebot3_manipulation_navigation/package.xml @@ -7,7 +7,7 @@ Apache 2.0 Will Son - Will Son + Pyo http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation https://github.com/ROBOTIS-GIT/turtlebot3_manipulation diff --git a/turtlebot3_manipulation_slam/package.xml b/turtlebot3_manipulation_slam/package.xml index 379ac30..9b9e9bc 100644 --- a/turtlebot3_manipulation_slam/package.xml +++ b/turtlebot3_manipulation_slam/package.xml @@ -7,7 +7,7 @@ Apache 2.0 Will Son - Will Son + Pyo http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation https://github.com/ROBOTIS-GIT/turtlebot3_manipulation From 2f87ce189fac90e58bbd9afea744b9344e13c230 Mon Sep 17 00:00:00 2001 From: SungHyeon Oh Date: Wed, 27 Nov 2024 16:48:14 +0900 Subject: [PATCH 11/16] Modified setup-ros version in ros-ci.yml Signed-off-by: SungHyeon Oh --- .github/workflows/ros-ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index 2591252..5f4c0b8 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -41,7 +41,7 @@ jobs: with: path: ros_ws/src - name: Setup ROS environment - uses: ros-tooling/setup-ros@0.2.1 + uses: ros-tooling/setup-ros@0.7 with: required-ros-distributions: ${{ matrix.ros_distribution }} - name: Build and Test From 61e9d2c9349c88aab62203c2c7d56292c8cd156e Mon Sep 17 00:00:00 2001 From: SungHyeon Oh Date: Wed, 27 Nov 2024 16:50:24 +0900 Subject: [PATCH 12/16] Modified setup-ci version is 0.5.1 Signed-off-by: SungHyeon Oh --- .github/workflows/ros-ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index 5f4c0b8..a1d58f2 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -41,7 +41,7 @@ jobs: with: path: ros_ws/src - name: Setup ROS environment - uses: ros-tooling/setup-ros@0.7 + uses: ros-tooling/setup-ros@0.5.1 with: required-ros-distributions: ${{ matrix.ros_distribution }} - name: Build and Test From 31b8bc07bf73c87991cfc3b847265747a6933e22 Mon Sep 17 00:00:00 2001 From: SungHyeon Oh Date: Wed, 27 Nov 2024 16:59:44 +0900 Subject: [PATCH 13/16] Modified checkout action from actions/checkout@v2 to actions/checkout@v3 Signed-off-by: SungHyeon Oh --- .github/workflows/ros-ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index a1d58f2..0364ef8 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -37,7 +37,7 @@ jobs: - name: Setup directories run: mkdir -p ros_ws/src - name: checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 with: path: ros_ws/src - name: Setup ROS environment From 900ac0008c78dcf81391dfad3b0d8c8ad3fdcf1c Mon Sep 17 00:00:00 2001 From: SungHyeon Oh Date: Wed, 27 Nov 2024 17:07:52 +0900 Subject: [PATCH 14/16] Returned chencout action version Signed-off-by: SungHyeon Oh --- .github/workflows/ros-ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index 0364ef8..a1d58f2 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -37,7 +37,7 @@ jobs: - name: Setup directories run: mkdir -p ros_ws/src - name: checkout - uses: actions/checkout@v3 + uses: actions/checkout@v2 with: path: ros_ws/src - name: Setup ROS environment From aad1b0c41192e05840efbaf0c351220ec218614f Mon Sep 17 00:00:00 2001 From: SungHyeon Oh Date: Thu, 28 Nov 2024 14:02:02 +0900 Subject: [PATCH 15/16] Removed ros melodic in git action task target Signed-off-by: SungHyeon Oh --- .github/workflows/ros-ci.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index a1d58f2..252a304 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -16,7 +16,7 @@ jobs: matrix: ros_distribution: # - kinetic - - melodic + # - melodic - noetic include: # Kinetic Kame (May 2016 - May 2021) @@ -24,9 +24,9 @@ jobs: # ros_distribution: kinetic # ros_version: 1 # Melodic Morenia (May 2018 - May 2023) - - docker_image: ubuntu:bionic - ros_distribution: melodic - ros_version: 1 + # - docker_image: ubuntu:bionic + # ros_distribution: melodic + # ros_version: 1 # Noetic Ninjemys (May 2020 - May 2025) - docker_image: ubuntu:focal ros_distribution: noetic From 23ed04e94fa71040d0260295ebae9936fac2d037 Mon Sep 17 00:00:00 2001 From: Pyo Date: Mon, 2 Dec 2024 16:21:38 +0900 Subject: [PATCH 16/16] Modified the readme file for maintenance Signed-off-by: Pyo --- README.md | 9 --------- 1 file changed, 9 deletions(-) diff --git a/README.md b/README.md index d41c23f..6ec29d0 100644 --- a/README.md +++ b/README.md @@ -2,14 +2,6 @@ -## ROS Packages for TurtleBot3 Manipulation - -[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3_manipulation.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3_manipulation) - -[![kinetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/tree/kinetic-devel) -[![melodic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/tree/melodic-devel) -[![noetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/tree/noetic-devel) - ## ROBOTIS e-Manual for TurtleBot3 Manipulation - [ROBOTIS e-Manual for TurtleBot3 Manipulation](https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation) @@ -49,7 +41,6 @@ ## Documents and Videos related to OpenManipulator with TurtleBot3 - [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/) - [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) -- [ROBOTIS e-Manual for ROBOTIS MANIPULATOR-H](http://emanual.robotis.com/docs/en/platform/manipulator_h/introduction/) - [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/) - [ROBOTIS e-Manual for Dynamixel Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/) - [e-Book for TurtleBot3 and OpenManipulator](https://community.robotsource.org/t/download-the-ros-robot-programming-book-for-free/51/)