Merge pull request ROBOTIS-GIT#827 from ROBOTIS-GIT/master

lds-02 support
HaojieZhang6848 · Feb 8, 2022 · 07ba4fd · 07ba4fd
2 parents 22a57f2 + 8b4adf4
commit 07ba4fd
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Showing 20 changed files with 55 additions and 15 deletions.
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
@@ -41,9 +41,11 @@ 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: Setuptools workaround
+        run: export SETUPTOOLS_USE_DISTUTILS=stdlib
       - name: Build and Test
         uses: ros-tooling/[email protected]
         with:

diff --git a/README.md b/README.md
@@ -11,6 +11,8 @@
 
 [![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)
+
 ## ROBOTIS e-Manual for TurtleBot3
 - [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
 

diff --git a/turtlebot3/CHANGELOG.rst b/turtlebot3/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.6 (2022-02-07)
+------------------
+* add LDS-02 support
+
 1.2.5 (2020-12-30)
 ------------------
 * Python 2/3 compatibility fix

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>1.2.5</version>
+  <version>1.2.6</version>
   <description>
     ROS packages for the Turtlebot3 (meta package)
   </description>

diff --git a/turtlebot3_bringup/CHANGELOG.rst b/turtlebot3_bringup/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.6 (2022-02-07)
+------------------
+* add LDS-02 support
+
 1.2.5 (2020-12-30)
 ------------------
 * No Changes

diff --git a/turtlebot3_bringup/launch/turtlebot3_lidar.launch b/turtlebot3_bringup/launch/turtlebot3_lidar.launch
@@ -1,8 +1,16 @@
 <launch>
   <arg name="set_frame_id" default="base_scan"/>
+  <arg name="lds_model" default="$(env LDS_MODEL)" doc="LDS MODEL [LDS-01, LDS-02]"/>
 
-  <node pkg="hls_lfcd_lds_driver" type="hlds_laser_publisher" name="turtlebot3_lds" output="screen">
-    <param name="port" value="/dev/ttyUSB0"/>
-    <param name="frame_id" value="$(arg set_frame_id)"/>
-  </node>
+  <group if = "$(eval lds_model == 'LDS-01')">
+    <node pkg="hls_lfcd_lds_driver" type="hlds_laser_publisher" name="turtlebot3_lds" output="screen">
+      <param name="port" value="/dev/ttyUSB0"/>
+      <param name="frame_id" value="$(arg set_frame_id)"/>
+    </node>
+  </group>
+  <group if = "$(eval lds_model == 'LDS-02')">
+    <node pkg="ld08_driver" type="ld08_driver" name="turtlebot3_lds" output="screen" args="LD08">
+      <param name="frame_id" value="$(arg set_frame_id)"/>
+    </node>
+  </group>
 </launch>
diff --git a/turtlebot3_bringup/package.xml b/turtlebot3_bringup/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_bringup</name>
-  <version>1.2.5</version>
+  <version>1.2.6</version>
   <description>
     roslaunch scripts for starting the TurtleBot3
   </description>

diff --git a/turtlebot3_description/CHANGELOG.rst b/turtlebot3_description/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.6 (2022-02-07)
+------------------
+* No Changes
+
 1.2.5 (2020-12-30)
 ------------------
 * Rectify IMU update rate to 0 on Gazebo

diff --git a/turtlebot3_description/package.xml b/turtlebot3_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_description</name>
-  <version>1.2.5</version>
+  <version>1.2.6</version>
   <description>
     3D models of the TurtleBot3 for simulation and visualization
   </description>

diff --git a/turtlebot3_example/CHANGELOG.rst b/turtlebot3_example/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.6 (2022-02-07)
+------------------
+* No Changes
+
 1.2.5 (2020-12-30)
 ------------------
 * No Changes

diff --git a/turtlebot3_example/package.xml b/turtlebot3_example/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_example</name>
-  <version>1.2.5</version>
+  <version>1.2.6</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>

diff --git a/turtlebot3_navigation/CHANGELOG.rst b/turtlebot3_navigation/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_navigation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.6 (2022-02-07)
+------------------
+* No Changes
+
 1.2.5 (2020-12-30)
 ------------------
 * No Changes

diff --git a/turtlebot3_navigation/package.xml b/turtlebot3_navigation/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_navigation</name>
-  <version>1.2.5</version>
+  <version>1.2.6</version>
   <description>
     The turtlebot3_navigation provides roslaunch scripts for starting the navigation.
   </description>

diff --git a/turtlebot3_navigation/param/dwa_local_planner_params_burger.yaml b/turtlebot3_navigation/param/dwa_local_planner_params_burger.yaml
@@ -18,7 +18,7 @@ DWAPlannerROS:
   acc_lim_y: 0.0
   acc_lim_theta: 3.2 
 
-# Goal Tolerance Parametes
+# Goal Tolerance Parameters
   xy_goal_tolerance: 0.05
   yaw_goal_tolerance: 0.17
   latch_xy_goal_tolerance: false

diff --git a/turtlebot3_navigation/param/dwa_local_planner_params_waffle.yaml b/turtlebot3_navigation/param/dwa_local_planner_params_waffle.yaml
@@ -18,7 +18,7 @@ DWAPlannerROS:
   acc_lim_y: 0.0
   acc_lim_theta: 3.2 
 
-# Goal Tolerance Parametes
+# Goal Tolerance Parameters
   xy_goal_tolerance: 0.05
   yaw_goal_tolerance: 0.17
   latch_xy_goal_tolerance: false

diff --git a/turtlebot3_navigation/param/dwa_local_planner_params_waffle_pi.yaml b/turtlebot3_navigation/param/dwa_local_planner_params_waffle_pi.yaml
@@ -18,7 +18,7 @@ DWAPlannerROS:
   acc_lim_y: 0.0
   acc_lim_theta: 3.2 
 
-# Goal Tolerance Parametes
+# Goal Tolerance Parameters
   xy_goal_tolerance: 0.05
   yaw_goal_tolerance: 0.17
   latch_xy_goal_tolerance: false

diff --git a/turtlebot3_slam/CHANGELOG.rst b/turtlebot3_slam/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_slam
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.6 (2022-02-07)
+------------------
+* No Changes
+
 1.2.5 (2020-12-30)
 ------------------
 * No Changes

diff --git a/turtlebot3_slam/package.xml b/turtlebot3_slam/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_slam</name>
-  <version>1.2.5</version>
+  <version>1.2.6</version>
   <description>
     The turtlebot3_slam package provides roslaunch scripts for starting the SLAM
   </description>

diff --git a/turtlebot3_teleop/CHANGELOG.rst b/turtlebot3_teleop/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_teleop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.6 (2022-02-07)
+------------------
+* No Changes
+
 1.2.5 (2020-12-30)
 ------------------
 * Python 2/3 compatibility fix

diff --git a/turtlebot3_teleop/package.xml b/turtlebot3_teleop/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_teleop</name>
-  <version>1.2.5</version>
+  <version>1.2.6</version>
   <description>
     Provides teleoperation using keyboard for TurtleBot3.
   </description>