fixed closed loop odom initialization

.github/workflows/ros-lint.yml

@@ -0,0 +1,32 @@
+# The name of the workflow
+name: Lint
+
+# Specifies the events that trigger the workflow
+on:
+  pull_request:
+
+# Defines a set of jobs to be run as part of the workflow
+jobs:
+  ament_lint:
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [cppcheck, cpplint, uncrustify, flake8, pep257, lint_cmake, xmllint, copyright]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+
+      - name: Run Linter
+        env:
+          AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          linter: ${{ matrix.linter }}
+          distribution: rolling
+          package-name: "*"

.gitignore

@@ -1,3 +1,8 @@
+# Ignore solution folders
+**/solution*/
+*solution*
+
+
 # Prerequisites
 *.d
 
@@ -30,3 +35,37 @@
 *.exe
 *.out
 *.app
+
+# user setting
+*.*~
+*.bak
+.svn
+/.vscode
+.tags
+.tags_sorted_by_file
+*.cfgc
+*.txt.user*
+*-build/
+cpp/
+bin/
+build/
+msg_gen/
+srv_gen/
+docs/
+lib/
+cmake_install.cmake
+Makefile
+CMakeFiles/
+assets/
+gen/
+build.xml
+lint.xml
+local.properties
+proguard-project.txt
+build-*/
+*.autosave
+*.pyc
+*.dat
+*.txt.user
+*.gch
+/.project

turtlebot3_manipulation/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_manipulation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.1 (2025-05-28)
+------------------
+* Removed the TurtleBot3 Manipulation Gazebo simulation
+* Contributors: ChanHyeong Lee
+
 2.2.0 (2025-04-01)
 ------------------
 * Added gripper control in teleoperation.

turtlebot3_manipulation/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_manipulation</name>
-  <version>2.2.0</version>
+  <version>2.2.1</version>
   <description>
     ROS 2 package for turtlebot3_manipulation
   </description>

turtlebot3_manipulation_bringup/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_manipulation_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.1 (2025-05-28)
+------------------
+* Removed the TurtleBot3 Manipulation Gazebo simulation
+* Contributors: ChanHyeong Lee
+
 2.2.0 (2025-04-01)
 ------------------
 * Updated maintainer information

turtlebot3_manipulation_bringup/CMakeLists.txt

@@ -13,7 +13,7 @@ find_package(ament_cmake REQUIRED)
 # Install
 ################################################################################
 install(
-  DIRECTORY launch config rviz worlds
+  DIRECTORY launch config rviz models worlds
   DESTINATION share/${PROJECT_NAME}
 )
 

turtlebot3_manipulation_bringup/config/gazebo_controller_manager.yaml

@@ -13,7 +13,7 @@ controller_manager:
       type: joint_trajectory_controller/JointTrajectoryController
 
     gripper_controller:
-      type: position_controllers/GripperActionController
+      type: parallel_gripper_action_controller/GripperActionController
 
 imu_broadcaster:
   ros__parameters:

turtlebot3_manipulation_bringup/config/hardware_controller_manager.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 100  # Hz
+    update_rate: 15 # 100  # Hz
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
@@ -15,7 +15,7 @@ controller_manager:
       type: joint_trajectory_controller/JointTrajectoryController
 
     gripper_controller:
-      type: position_controllers/GripperActionController
+      type: parallel_gripper_action_controller/GripperActionController
 
 diff_drive_controller:
   ros__parameters:
@@ -36,12 +36,12 @@ diff_drive_controller:
     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
+    open_loop: false
     enable_odom_tf: true
 
     cmd_vel_timeout: 0.5
     #publish_limited_velocity: true
-    use_stamped_vel: false
+    use_stamped_vel: true
     #velocity_rolling_window_size: 10
 
     # Preserve turning radius when limiting speed/acceleration/jerk
@@ -87,10 +87,8 @@ arm_controller:
       - joint3
       - joint4
     interface_name: position
-
     command_interfaces:
       - position
-
     state_interfaces:
       - position
       - velocity

turtlebot3_manipulation_bringup/config/tb3_bridge.yaml

@@ -0,0 +1,59 @@
+# replace clock_bridge
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+# no equivalent in TB3 - add
+- ros_topic_name: "joint_states"
+  gz_topic_name: "joint_states"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+
+# replace odom_bridge - check gz topic name
+# gz topic published by DiffDrive plugin
+# - ros_topic_name: "odom"
+#   gz_topic_name: "/odom"
+#   ros_type_name: "nav_msgs/msg/Odometry"
+#   gz_type_name: "gz.msgs.Odometry"
+#   direction: GZ_TO_ROS
+
+# replace odom_tf_bridge - check gz and ros topic names
+# gz topic published by DiffDrive plugin
+# prefix ros2 topic with gz
+- ros_topic_name: "tf"
+  gz_topic_name: "/tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+# replace imu_bridge - check gz topic name
+- ros_topic_name: "imu"
+  gz_topic_name: "/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  direction: GZ_TO_ROS
+
+# replace lidar_bridge
+- ros_topic_name: "scan"
+  gz_topic_name: "/scan"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS
+  reliability: "best_effort"
+
+# replace cmd_vel_bridge
+- ros_topic_name: "/cmd_vel"
+  gz_topic_name: "/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/TwistStamped"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
+
+# replace camera_info_bridge
+- ros_topic_name: "/camera_info"
+  gz_topic_name: "/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS

turtlebot3_manipulation_bringup/config/tb3_bridge.yaml.orig

@@ -0,0 +1,63 @@
+# replace clock_bridge
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+# no equivalent in TB3 - add
+- ros_topic_name: "joint_states"
+  gz_topic_name: "joint_states"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+
+# replace odom_bridge - check gz topic name
+# gz topic published by DiffDrive plugin
+# - ros_topic_name: "odom"
+#   gz_topic_name: "/odom"
+#   ros_type_name: "nav_msgs/msg/Odometry"
+#   gz_type_name: "gz.msgs.Odometry"
+#   direction: GZ_TO_ROS
+
+# replace odom_tf_bridge - check gz and ros topic names
+# gz topic published by DiffDrive plugin
+# prefix ros2 topic with gz
+- ros_topic_name: "tf"
+  gz_topic_name: "/tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+# replace imu_bridge - check gz topic name
+- ros_topic_name: "imu"
+  gz_topic_name: "/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  direction: GZ_TO_ROS
+
+# replace lidar_bridge
+- ros_topic_name: "scan"
+  gz_topic_name: "/scan"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS
+  reliability: "best_effort"
+
+# replace cmd_vel_bridge
+- ros_topic_name: "/cmd_vel"
+  gz_topic_name: "/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/TwistStamped"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
+
+# replace camera_info_bridge
+<<<<<<< HEAD
+- ros_topic_name: "/camera_info"
+=======
+- ros_topic_name: "camera_info"
+>>>>>>> 53fabef (some updates)
+  gz_topic_name: "/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS

turtlebot3_manipulation_bringup/config/twist_mux.yaml

@@ -0,0 +1,20 @@
+twist_mux:
+  ros__parameters:
+    topics:
+      # navigation:
+      #   topic: /cmd_vel_nav
+      #   priority: 10
+      #   timeout: 0.5
+      # navigation:
+      #   topic: /cmd_vel_smoothed
+      #   priority: 10
+      #   timeout: 0.5
+      navigation:
+        topic: /cmd_vel_collision
+        priority: 10
+        timeout: 0.5
+      teleop:
+        topic: /cmd_vel_teleop
+        priority: 20
+        timeout: 0.5
+    use_stamped: true

turtlebot3_manipulation_bringup/config/xbox.config.yaml

@@ -0,0 +1,32 @@
+teleop_twist_joy_node:
+  ros__parameters:
+    use_sim_time: false
+    axis_linear:  # Left thumb stick vertical
+      x: 1
+    scale_linear:
+      x: 0.7
+    scale_linear_turbo:
+      x: 1.5
+    qos_overrides:
+      /joy:
+        subscription:
+          reliability: best_effort
+          depth: 1
+          durability: volatile
+      /cmd_vel_teleop:
+        publisher:
+          reliability: best_effort
+          depth: 1
+          durability: volatile
+
+    axis_angular:  # Left thumb stick horizontal
+      yaw: 0
+    scale_angular:
+      yaw: 0.4
+
+    enable_button: 4  # Left trigger button
+    enable_turbo_button: 5  # Right trigger button
+
+# joy_node:
+#   ros__parameters:
+#     device_name: /dev/input/js0

turtlebot3_manipulation_bringup/launch/base.launch.py

@@ -129,17 +129,13 @@ def generate_launch_description():
             {'robot_description': urdf_file},
             controller_manager_config
         ],
-        remappings=[
-            ('~/cmd_vel_unstamped', 'cmd_vel'),
-            ('~/odom', 'odom')
-        ],
         output="both",
         condition=UnlessCondition(use_sim))
 
     robot_state_pub_node = Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
-        parameters=[{'robot_description': urdf_file, 'use_sim_time': use_sim}],
+        parameters=[{'robot_description': urdf_file, 'ignore_timestamp': True, 'use_sim_time': use_sim}],
         output='screen'
     )
 
@@ -161,10 +157,10 @@ def generate_launch_description():
     diff_drive_controller_spawner = Node(
         package='controller_manager',
         executable='spawner',
-        arguments=['diff_drive_controller', '-c', '/controller_manager'],
-        output='screen',
-        condition=UnlessCondition(use_sim)
-    )
+        arguments=['diff_drive_controller', '-c', '/controller_manager',
+          "--controller-ros-args", "-r diff_drive_controller/cmd_vel:=cmd_vel -r diff_drive_controller/odom:=odom",
+          '--ros-args', '--log-level', 'INFO'],       
+        output='log',)
 
     imu_broadcaster_spawner = Node(
         package='controller_manager',