From b630d4178660340d62114b46cb9114b54bd26f95 Mon Sep 17 00:00:00 2001 From: Woojin Wie Date: Thu, 13 Nov 2025 15:10:26 +0900 Subject: [PATCH 1/6] feat: update omy_hat GPIO configuration to multiple xacro files --- .../omy_3m_position.ros2_control.xacro | 24 +++++++++---------- .../omy_f3m_current.ros2_control.xacro | 24 +++++++++---------- .../omy_f3m_position.ros2_control.xacro | 24 +++++++++---------- .../omy_f3m_smooth.ros2_control.xacro | 24 +++++++++---------- 4 files changed, 48 insertions(+), 48 deletions(-) diff --git a/open_manipulator_description/ros2_control/omy_3m_position.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_3m_position.ros2_control.xacro index 7be8226b..61b754cd 100644 --- a/open_manipulator_description/ros2_control/omy_3m_position.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_3m_position.ros2_control.xacro @@ -85,6 +85,18 @@ + + controller + 200 + 1 + 1 + 200 + 200 + 120 + 8 + 8 + 0 + dxl 1 @@ -206,18 +218,6 @@ 20 40 - - controller - 200 - 1 - 1 - 200 - 200 - 120 - 8 - 8 - 0 - diff --git a/open_manipulator_description/ros2_control/omy_f3m_current.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_f3m_current.ros2_control.xacro index 5d4d6567..a69b8018 100644 --- a/open_manipulator_description/ros2_control/omy_f3m_current.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_f3m_current.ros2_control.xacro @@ -85,6 +85,18 @@ + + controller + 200 + 1 + 1 + 200 + 200 + 120 + 8 + 8 + 0 + dxl 1 @@ -218,18 +230,6 @@ 40 1 - - controller - 200 - 1 - 1 - 200 - 200 - 120 - 8 - 8 - 0 - diff --git a/open_manipulator_description/ros2_control/omy_f3m_position.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_f3m_position.ros2_control.xacro index 395220cd..5fe4fbab 100644 --- a/open_manipulator_description/ros2_control/omy_f3m_position.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_f3m_position.ros2_control.xacro @@ -85,6 +85,18 @@ + + controller + 200 + 1 + 1 + 200 + 200 + 120 + 8 + 8 + 0 + dxl 1 @@ -206,18 +218,6 @@ 20 40 - - controller - 200 - 1 - 1 - 200 - 200 - 120 - 8 - 8 - 0 - diff --git a/open_manipulator_description/ros2_control/omy_f3m_smooth.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_f3m_smooth.ros2_control.xacro index dbb947f8..556b49f8 100644 --- a/open_manipulator_description/ros2_control/omy_f3m_smooth.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_f3m_smooth.ros2_control.xacro @@ -85,6 +85,18 @@ + + controller + 200 + 1 + 1 + 200 + 200 + 120 + 8 + 8 + 0 + dxl 1 @@ -206,18 +218,6 @@ 500 1000 - - controller - 200 - 1 - 1 - 200 - 200 - 120 - 8 - 8 - 0 - From ab4ce130374bb18590e81129798818158ce9a4b7 Mon Sep 17 00:00:00 2001 From: Woojin Wie Date: Thu, 13 Nov 2025 15:28:31 +0900 Subject: [PATCH 2/6] refactor: rename fake hardware and sensor command arguments to mock in launch and URDF files --- .../launch/omx_f.launch.py | 20 +++++++++---------- .../launch/omx_f_follower_ai.launch.py | 20 +++++++++---------- .../launch/omx_l_leader_ai.launch.py | 20 +++++++++---------- .../launch/omy_3m.launch.py | 20 +++++++++---------- .../launch/omy_f3m.launch.py | 20 +++++++++---------- .../launch/omy_f3m_follower_ai.launch.py | 20 +++++++++---------- .../launch/omy_f3m_leader_ai.launch.py | 20 +++++++++---------- .../launch/omy_l100_follower_ai.launch.py | 20 +++++++++---------- .../launch/omy_l100_leader_ai.launch.py | 20 +++++++++---------- .../launch/open_manipulator_x.launch.py | 20 +++++++++---------- .../launch/omx_f.launch.py | 2 +- .../launch/omx_l.launch.py | 2 +- .../launch/omy_3m.launch.py | 2 +- .../launch/omy_f3m.launch.py | 2 +- .../launch/omy_l100.launch.py | 2 +- .../launch/open_manipulator_x.launch.py | 2 +- .../ros2_control/omx_f.ros2_control.xacro | 10 +++++----- .../ros2_control/omx_l.ros2_control.xacro | 10 +++++----- .../omy_3m_end_unit.ros2_control.xacro | 10 +++++----- .../omy_3m_position.ros2_control.xacro | 10 +++++----- .../omy_f3m_current.ros2_control.xacro | 10 +++++----- .../omy_f3m_end_unit.ros2_control.xacro | 10 +++++----- .../omy_f3m_position.ros2_control.xacro | 10 +++++----- .../omy_f3m_smooth.ros2_control.xacro | 10 +++++----- .../omy_l100_current.ros2_control.xacro | 10 +++++----- .../omy_l100_position.ros2_control.xacro | 10 +++++----- ..._manipulator_x_position.ros2_control.xacro | 10 +++++----- .../urdf/omx_f/omx_f.urdf.xacro | 8 ++++---- .../urdf/omx_l/omx_l.urdf.xacro | 8 ++++---- .../urdf/omy_3m/omy_3m.urdf.xacro | 12 +++++------ .../urdf/omy_f3m/omy_f3m.urdf.xacro | 12 +++++------ .../urdf/omy_l100/omy_l100.urdf.xacro | 8 ++++---- .../open_manipulator_x.urdf.xacro | 8 ++++---- 33 files changed, 189 insertions(+), 189 deletions(-) diff --git a/open_manipulator_bringup/launch/omx_f.launch.py b/open_manipulator_bringup/launch/omx_f.launch.py index a171f90a..61eb434d 100644 --- a/open_manipulator_bringup/launch/omx_f.launch.py +++ b/open_manipulator_bringup/launch/omx_f.launch.py @@ -47,14 +47,14 @@ def generate_launch_description(): description='Start robot in Gazebo simulation.', ), DeclareLaunchArgument( - 'use_fake_hardware', + 'use_mock_hardware', default_value='false', - description='Use fake hardware mirroring command.', + description='Use mock hardware mirroring command.', ), DeclareLaunchArgument( - 'fake_sensor_commands', + 'mock_sensor_commands', default_value='false', - description='Enable fake sensor commands.', + description='Enable mock sensor commands.', ), DeclareLaunchArgument( 'port_name', @@ -82,8 +82,8 @@ def generate_launch_description(): start_rviz = LaunchConfiguration('start_rviz') prefix = LaunchConfiguration('prefix') use_sim = LaunchConfiguration('use_sim') - use_fake_hardware = LaunchConfiguration('use_fake_hardware') - fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') + use_mock_hardware = LaunchConfiguration('use_mock_hardware') + mock_sensor_commands = LaunchConfiguration('mock_sensor_commands') port_name = LaunchConfiguration('port_name') init_position = LaunchConfiguration('init_position') ros2_control_type = LaunchConfiguration('ros2_control_type') @@ -106,11 +106,11 @@ def generate_launch_description(): 'use_sim:=', use_sim, ' ', - 'use_fake_hardware:=', - use_fake_hardware, + 'use_mock_hardware:=', + use_mock_hardware, ' ', - 'fake_sensor_commands:=', - fake_sensor_commands, + 'mock_sensor_commands:=', + mock_sensor_commands, ' ', 'port_name:=', port_name, diff --git a/open_manipulator_bringup/launch/omx_f_follower_ai.launch.py b/open_manipulator_bringup/launch/omx_f_follower_ai.launch.py index d638bca3..425baab5 100644 --- a/open_manipulator_bringup/launch/omx_f_follower_ai.launch.py +++ b/open_manipulator_bringup/launch/omx_f_follower_ai.launch.py @@ -47,14 +47,14 @@ def generate_launch_description(): description='Start robot in Gazebo simulation.', ), DeclareLaunchArgument( - 'use_fake_hardware', + 'use_mock_hardware', default_value='false', - description='Use fake hardware mirroring command.', + description='Use mock hardware mirroring command.', ), DeclareLaunchArgument( - 'fake_sensor_commands', + 'mock_sensor_commands', default_value='false', - description='Enable fake sensor commands.', + description='Enable mock sensor commands.', ), DeclareLaunchArgument( 'init_position', @@ -77,8 +77,8 @@ def generate_launch_description(): start_rviz = LaunchConfiguration('start_rviz') prefix = LaunchConfiguration('prefix') use_sim = LaunchConfiguration('use_sim') - use_fake_hardware = LaunchConfiguration('use_fake_hardware') - fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') + use_mock_hardware = LaunchConfiguration('use_mock_hardware') + mock_sensor_commands = LaunchConfiguration('mock_sensor_commands') init_position = LaunchConfiguration('init_position') ros2_control_type = LaunchConfiguration('ros2_control_type') port_name = LaunchConfiguration('port_name') @@ -100,11 +100,11 @@ def generate_launch_description(): 'use_sim:=', use_sim, ' ', - 'use_fake_hardware:=', - use_fake_hardware, + 'use_mock_hardware:=', + use_mock_hardware, ' ', - 'fake_sensor_commands:=', - fake_sensor_commands, + 'mock_sensor_commands:=', + mock_sensor_commands, ' ', 'ros2_control_type:=', ros2_control_type, diff --git a/open_manipulator_bringup/launch/omx_l_leader_ai.launch.py b/open_manipulator_bringup/launch/omx_l_leader_ai.launch.py index 1663b9d2..41f08512 100644 --- a/open_manipulator_bringup/launch/omx_l_leader_ai.launch.py +++ b/open_manipulator_bringup/launch/omx_l_leader_ai.launch.py @@ -46,14 +46,14 @@ def generate_launch_description(): description='Start robot in Gazebo simulation.', ), DeclareLaunchArgument( - 'use_fake_hardware', + 'use_mock_hardware', default_value='false', - description='Use fake hardware mirroring command.', + description='Use mock hardware mirroring command.', ), DeclareLaunchArgument( - 'fake_sensor_commands', + 'mock_sensor_commands', default_value='false', - description='Enable fake sensor commands.', + description='Enable mock sensor commands.', ), DeclareLaunchArgument( 'port_name', @@ -70,8 +70,8 @@ def generate_launch_description(): # Launch configurations prefix = LaunchConfiguration('prefix') use_sim = LaunchConfiguration('use_sim') - use_fake_hardware = LaunchConfiguration('use_fake_hardware') - fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') + use_mock_hardware = LaunchConfiguration('use_mock_hardware') + mock_sensor_commands = LaunchConfiguration('mock_sensor_commands') port_name = LaunchConfiguration('port_name') ros2_control_type = LaunchConfiguration('ros2_control_type') @@ -92,11 +92,11 @@ def generate_launch_description(): 'use_sim:=', use_sim, ' ', - 'use_fake_hardware:=', - use_fake_hardware, + 'use_mock_hardware:=', + use_mock_hardware, ' ', - 'fake_sensor_commands:=', - fake_sensor_commands, + 'mock_sensor_commands:=', + mock_sensor_commands, ' ', 'port_name:=', port_name, diff --git a/open_manipulator_bringup/launch/omy_3m.launch.py b/open_manipulator_bringup/launch/omy_3m.launch.py index 5cb52064..f58956e2 100644 --- a/open_manipulator_bringup/launch/omy_3m.launch.py +++ b/open_manipulator_bringup/launch/omy_3m.launch.py @@ -47,14 +47,14 @@ def generate_launch_description(): description='Start robot in Gazebo simulation.', ), DeclareLaunchArgument( - 'use_fake_hardware', + 'use_mock_hardware', default_value='false', - description='Use fake hardware mirroring command.', + description='Use mock hardware mirroring command.', ), DeclareLaunchArgument( - 'fake_sensor_commands', + 'mock_sensor_commands', default_value='false', - description='Enable fake sensor commands.', + description='Enable mock sensor commands.', ), DeclareLaunchArgument( 'init_position', @@ -77,8 +77,8 @@ def generate_launch_description(): start_rviz = LaunchConfiguration('start_rviz') prefix = LaunchConfiguration('prefix') use_sim = LaunchConfiguration('use_sim') - use_fake_hardware = LaunchConfiguration('use_fake_hardware') - fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') + use_mock_hardware = LaunchConfiguration('use_mock_hardware') + mock_sensor_commands = LaunchConfiguration('mock_sensor_commands') init_position = LaunchConfiguration('init_position') ros2_control_type = LaunchConfiguration('ros2_control_type') init_position_file = LaunchConfiguration('init_position_file') @@ -100,11 +100,11 @@ def generate_launch_description(): 'use_sim:=', use_sim, ' ', - 'use_fake_hardware:=', - use_fake_hardware, + 'use_mock_hardware:=', + use_mock_hardware, ' ', - 'fake_sensor_commands:=', - fake_sensor_commands, + 'mock_sensor_commands:=', + mock_sensor_commands, ' ', 'ros2_control_type:=', ros2_control_type, diff --git a/open_manipulator_bringup/launch/omy_f3m.launch.py b/open_manipulator_bringup/launch/omy_f3m.launch.py index e9c483b7..d1b00970 100644 --- a/open_manipulator_bringup/launch/omy_f3m.launch.py +++ b/open_manipulator_bringup/launch/omy_f3m.launch.py @@ -47,14 +47,14 @@ def generate_launch_description(): description='Start robot in Gazebo simulation.', ), DeclareLaunchArgument( - 'use_fake_hardware', + 'use_mock_hardware', default_value='false', - description='Use fake hardware mirroring command.', + description='Use mock hardware mirroring command.', ), DeclareLaunchArgument( - 'fake_sensor_commands', + 'mock_sensor_commands', default_value='false', - description='Enable fake sensor commands.', + description='Enable mock sensor commands.', ), DeclareLaunchArgument( 'init_position', @@ -77,8 +77,8 @@ def generate_launch_description(): start_rviz = LaunchConfiguration('start_rviz') prefix = LaunchConfiguration('prefix') use_sim = LaunchConfiguration('use_sim') - use_fake_hardware = LaunchConfiguration('use_fake_hardware') - fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') + use_mock_hardware = LaunchConfiguration('use_mock_hardware') + mock_sensor_commands = LaunchConfiguration('mock_sensor_commands') init_position = LaunchConfiguration('init_position') ros2_control_type = LaunchConfiguration('ros2_control_type') init_position_file = LaunchConfiguration('init_position_file') @@ -100,11 +100,11 @@ def generate_launch_description(): 'use_sim:=', use_sim, ' ', - 'use_fake_hardware:=', - use_fake_hardware, + 'use_mock_hardware:=', + use_mock_hardware, ' ', - 'fake_sensor_commands:=', - fake_sensor_commands, + 'mock_sensor_commands:=', + mock_sensor_commands, ' ', 'ros2_control_type:=', ros2_control_type, diff --git a/open_manipulator_bringup/launch/omy_f3m_follower_ai.launch.py b/open_manipulator_bringup/launch/omy_f3m_follower_ai.launch.py index bcc3ea91..245715ec 100644 --- a/open_manipulator_bringup/launch/omy_f3m_follower_ai.launch.py +++ b/open_manipulator_bringup/launch/omy_f3m_follower_ai.launch.py @@ -47,14 +47,14 @@ def generate_launch_description(): description='Start robot in Gazebo simulation.', ), DeclareLaunchArgument( - 'use_fake_hardware', + 'use_mock_hardware', default_value='false', - description='Use fake hardware mirroring command.', + description='Use mock hardware mirroring command.', ), DeclareLaunchArgument( - 'fake_sensor_commands', + 'mock_sensor_commands', default_value='false', - description='Enable fake sensor commands.', + description='Enable mock sensor commands.', ), DeclareLaunchArgument( 'init_position', @@ -77,8 +77,8 @@ def generate_launch_description(): start_rviz = LaunchConfiguration('start_rviz') prefix = LaunchConfiguration('prefix') use_sim = LaunchConfiguration('use_sim') - use_fake_hardware = LaunchConfiguration('use_fake_hardware') - fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') + use_mock_hardware = LaunchConfiguration('use_mock_hardware') + mock_sensor_commands = LaunchConfiguration('mock_sensor_commands') init_position = LaunchConfiguration('init_position') ros2_control_type = LaunchConfiguration('ros2_control_type') init_position_file = LaunchConfiguration('init_position_file') @@ -100,11 +100,11 @@ def generate_launch_description(): 'use_sim:=', use_sim, ' ', - 'use_fake_hardware:=', - use_fake_hardware, + 'use_mock_hardware:=', + use_mock_hardware, ' ', - 'fake_sensor_commands:=', - fake_sensor_commands, + 'mock_sensor_commands:=', + mock_sensor_commands, ' ', 'ros2_control_type:=', ros2_control_type, diff --git a/open_manipulator_bringup/launch/omy_f3m_leader_ai.launch.py b/open_manipulator_bringup/launch/omy_f3m_leader_ai.launch.py index acf5fe43..7f1fa2e5 100644 --- a/open_manipulator_bringup/launch/omy_f3m_leader_ai.launch.py +++ b/open_manipulator_bringup/launch/omy_f3m_leader_ai.launch.py @@ -43,14 +43,14 @@ def generate_launch_description(): description='Start robot in Gazebo simulation.', ), DeclareLaunchArgument( - 'use_fake_hardware', + 'use_mock_hardware', default_value='false', - description='Use fake hardware mirroring command.', + description='Use mock hardware mirroring command.', ), DeclareLaunchArgument( - 'fake_sensor_commands', + 'mock_sensor_commands', default_value='false', - description='Enable fake sensor commands.', + description='Enable mock sensor commands.', ), DeclareLaunchArgument( 'ros2_control_type', @@ -62,8 +62,8 @@ def generate_launch_description(): # Launch configurations prefix = LaunchConfiguration('prefix') use_sim = LaunchConfiguration('use_sim') - use_fake_hardware = LaunchConfiguration('use_fake_hardware') - fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') + use_mock_hardware = LaunchConfiguration('use_mock_hardware') + mock_sensor_commands = LaunchConfiguration('mock_sensor_commands') ros2_control_type = LaunchConfiguration('ros2_control_type') # Generate URDF file using xacro @@ -83,11 +83,11 @@ def generate_launch_description(): 'use_sim:=', use_sim, ' ', - 'use_fake_hardware:=', - use_fake_hardware, + 'use_mock_hardware:=', + use_mock_hardware, ' ', - 'fake_sensor_commands:=', - fake_sensor_commands, + 'mock_sensor_commands:=', + mock_sensor_commands, ' ', 'ros2_control_type:=', ros2_control_type, diff --git a/open_manipulator_bringup/launch/omy_l100_follower_ai.launch.py b/open_manipulator_bringup/launch/omy_l100_follower_ai.launch.py index 85d896ea..eb8e96b3 100644 --- a/open_manipulator_bringup/launch/omy_l100_follower_ai.launch.py +++ b/open_manipulator_bringup/launch/omy_l100_follower_ai.launch.py @@ -47,14 +47,14 @@ def generate_launch_description(): description='Start robot in Gazebo simulation.', ), DeclareLaunchArgument( - 'use_fake_hardware', + 'use_mock_hardware', default_value='false', - description='Use fake hardware mirroring command.', + description='Use mock hardware mirroring command.', ), DeclareLaunchArgument( - 'fake_sensor_commands', + 'mock_sensor_commands', default_value='false', - description='Enable fake sensor commands.', + description='Enable mock sensor commands.', ), DeclareLaunchArgument( 'port_name', @@ -82,8 +82,8 @@ def generate_launch_description(): start_rviz = LaunchConfiguration('start_rviz') prefix = LaunchConfiguration('prefix') use_sim = LaunchConfiguration('use_sim') - use_fake_hardware = LaunchConfiguration('use_fake_hardware') - fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') + use_mock_hardware = LaunchConfiguration('use_mock_hardware') + mock_sensor_commands = LaunchConfiguration('mock_sensor_commands') port_name = LaunchConfiguration('port_name') init_position = LaunchConfiguration('init_position') ros2_control_type = LaunchConfiguration('ros2_control_type') @@ -106,11 +106,11 @@ def generate_launch_description(): 'use_sim:=', use_sim, ' ', - 'use_fake_hardware:=', - use_fake_hardware, + 'use_mock_hardware:=', + use_mock_hardware, ' ', - 'fake_sensor_commands:=', - fake_sensor_commands, + 'mock_sensor_commands:=', + mock_sensor_commands, ' ', 'port_name:=', port_name, diff --git a/open_manipulator_bringup/launch/omy_l100_leader_ai.launch.py b/open_manipulator_bringup/launch/omy_l100_leader_ai.launch.py index c13996f0..eeb4903c 100644 --- a/open_manipulator_bringup/launch/omy_l100_leader_ai.launch.py +++ b/open_manipulator_bringup/launch/omy_l100_leader_ai.launch.py @@ -45,14 +45,14 @@ def generate_launch_description(): description='Start robot in Gazebo simulation.', ), DeclareLaunchArgument( - 'use_fake_hardware', + 'use_mock_hardware', default_value='false', - description='Use fake hardware mirroring command.', + description='Use mock hardware mirroring command.', ), DeclareLaunchArgument( - 'fake_sensor_commands', + 'mock_sensor_commands', default_value='false', - description='Enable fake sensor commands.', + description='Enable mock sensor commands.', ), DeclareLaunchArgument( 'port_name', @@ -75,8 +75,8 @@ def generate_launch_description(): prefix = LaunchConfiguration('prefix') use_self_collision_avoidance = LaunchConfiguration('use_self_collision_avoidance') use_sim = LaunchConfiguration('use_sim') - use_fake_hardware = LaunchConfiguration('use_fake_hardware') - fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') + use_mock_hardware = LaunchConfiguration('use_mock_hardware') + mock_sensor_commands = LaunchConfiguration('mock_sensor_commands') port_name = LaunchConfiguration('port_name') ros2_control_type = LaunchConfiguration('ros2_control_type') @@ -97,11 +97,11 @@ def generate_launch_description(): 'use_sim:=', use_sim, ' ', - 'use_fake_hardware:=', - use_fake_hardware, + 'use_mock_hardware:=', + use_mock_hardware, ' ', - 'fake_sensor_commands:=', - fake_sensor_commands, + 'mock_sensor_commands:=', + mock_sensor_commands, ' ', 'port_name:=', port_name, diff --git a/open_manipulator_bringup/launch/open_manipulator_x.launch.py b/open_manipulator_bringup/launch/open_manipulator_x.launch.py index 90711a2d..82692c54 100644 --- a/open_manipulator_bringup/launch/open_manipulator_x.launch.py +++ b/open_manipulator_bringup/launch/open_manipulator_x.launch.py @@ -47,14 +47,14 @@ def generate_launch_description(): description='Start robot in Gazebo simulation.', ), DeclareLaunchArgument( - 'use_fake_hardware', + 'use_mock_hardware', default_value='false', - description='Use fake hardware mirroring command.', + description='Use mock hardware mirroring command.', ), DeclareLaunchArgument( - 'fake_sensor_commands', + 'mock_sensor_commands', default_value='false', - description='Enable fake sensor commands.', + description='Enable mock sensor commands.', ), DeclareLaunchArgument( 'port_name', @@ -82,8 +82,8 @@ def generate_launch_description(): start_rviz = LaunchConfiguration('start_rviz') prefix = LaunchConfiguration('prefix') use_sim = LaunchConfiguration('use_sim') - use_fake_hardware = LaunchConfiguration('use_fake_hardware') - fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') + use_mock_hardware = LaunchConfiguration('use_mock_hardware') + mock_sensor_commands = LaunchConfiguration('mock_sensor_commands') port_name = LaunchConfiguration('port_name') init_position = LaunchConfiguration('init_position') ros2_control_type = LaunchConfiguration('ros2_control_type') @@ -106,11 +106,11 @@ def generate_launch_description(): 'use_sim:=', use_sim, ' ', - 'use_fake_hardware:=', - use_fake_hardware, + 'use_mock_hardware:=', + use_mock_hardware, ' ', - 'fake_sensor_commands:=', - fake_sensor_commands, + 'mock_sensor_commands:=', + mock_sensor_commands, ' ', 'port_name:=', port_name, diff --git a/open_manipulator_description/launch/omx_f.launch.py b/open_manipulator_description/launch/omx_f.launch.py index 0e85f61f..0d6ea9f0 100644 --- a/open_manipulator_description/launch/omx_f.launch.py +++ b/open_manipulator_description/launch/omx_f.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): 'prefix:=', prefix, ' ', - 'use_fake_hardware:=', + 'use_mock_hardware:=', 'True', ]) diff --git a/open_manipulator_description/launch/omx_l.launch.py b/open_manipulator_description/launch/omx_l.launch.py index 4eedd414..48769291 100644 --- a/open_manipulator_description/launch/omx_l.launch.py +++ b/open_manipulator_description/launch/omx_l.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): 'prefix:=', prefix, ' ', - 'use_fake_hardware:=', + 'use_mock_hardware:=', 'True', ]) diff --git a/open_manipulator_description/launch/omy_3m.launch.py b/open_manipulator_description/launch/omy_3m.launch.py index 11c1c244..bbd94ea4 100644 --- a/open_manipulator_description/launch/omy_3m.launch.py +++ b/open_manipulator_description/launch/omy_3m.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): 'prefix:=', prefix, ' ', - 'use_fake_hardware:=', + 'use_mock_hardware:=', 'True', ]) diff --git a/open_manipulator_description/launch/omy_f3m.launch.py b/open_manipulator_description/launch/omy_f3m.launch.py index 95bbb60a..3baaf018 100644 --- a/open_manipulator_description/launch/omy_f3m.launch.py +++ b/open_manipulator_description/launch/omy_f3m.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): 'prefix:=', prefix, ' ', - 'use_fake_hardware:=', + 'use_mock_hardware:=', 'True', ]) diff --git a/open_manipulator_description/launch/omy_l100.launch.py b/open_manipulator_description/launch/omy_l100.launch.py index dcffecbc..90679d59 100644 --- a/open_manipulator_description/launch/omy_l100.launch.py +++ b/open_manipulator_description/launch/omy_l100.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): 'prefix:=', prefix, ' ', - 'use_fake_hardware:=', + 'use_mock_hardware:=', 'True', ]) diff --git a/open_manipulator_description/launch/open_manipulator_x.launch.py b/open_manipulator_description/launch/open_manipulator_x.launch.py index b57b01a5..59af8915 100644 --- a/open_manipulator_description/launch/open_manipulator_x.launch.py +++ b/open_manipulator_description/launch/open_manipulator_x.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): 'prefix:=', prefix, ' ', - 'use_fake_hardware:=', + 'use_mock_hardware:=', 'True', ]) diff --git a/open_manipulator_description/ros2_control/omx_f.ros2_control.xacro b/open_manipulator_description/ros2_control/omx_f.ros2_control.xacro index b9436a8c..724eabc5 100644 --- a/open_manipulator_description/ros2_control/omx_f.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omx_f.ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,12 +9,12 @@ - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 1000000 diff --git a/open_manipulator_description/ros2_control/omx_l.ros2_control.xacro b/open_manipulator_description/ros2_control/omx_l.ros2_control.xacro index 7f1f9742..76c45773 100644 --- a/open_manipulator_description/ros2_control/omx_l.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omx_l.ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,12 +9,12 @@ - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 1000000 diff --git a/open_manipulator_description/ros2_control/omy_3m_end_unit.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_3m_end_unit.ros2_control.xacro index 9e2c540e..6280945d 100644 --- a/open_manipulator_description/ros2_control/omy_3m_end_unit.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_3m_end_unit.ros2_control.xacro @@ -1,15 +1,15 @@ - + - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 4000000 diff --git a/open_manipulator_description/ros2_control/omy_3m_position.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_3m_position.ros2_control.xacro index 61b754cd..5a6211b8 100644 --- a/open_manipulator_description/ros2_control/omy_3m_position.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_3m_position.ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,12 +9,12 @@ - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 6250000 diff --git a/open_manipulator_description/ros2_control/omy_f3m_current.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_f3m_current.ros2_control.xacro index a69b8018..a175f3e2 100644 --- a/open_manipulator_description/ros2_control/omy_f3m_current.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_f3m_current.ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,12 +9,12 @@ - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 6250000 diff --git a/open_manipulator_description/ros2_control/omy_f3m_end_unit.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_f3m_end_unit.ros2_control.xacro index 880adea7..94766eb1 100644 --- a/open_manipulator_description/ros2_control/omy_f3m_end_unit.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_f3m_end_unit.ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,12 +9,12 @@ - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 4000000 diff --git a/open_manipulator_description/ros2_control/omy_f3m_position.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_f3m_position.ros2_control.xacro index 5fe4fbab..e6ae4b7f 100644 --- a/open_manipulator_description/ros2_control/omy_f3m_position.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_f3m_position.ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,12 +9,12 @@ - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 6250000 diff --git a/open_manipulator_description/ros2_control/omy_f3m_smooth.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_f3m_smooth.ros2_control.xacro index 556b49f8..e70e6e8a 100644 --- a/open_manipulator_description/ros2_control/omy_f3m_smooth.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_f3m_smooth.ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,12 +9,12 @@ - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 6250000 diff --git a/open_manipulator_description/ros2_control/omy_l100_current.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_l100_current.ros2_control.xacro index ebd7716d..097d2677 100644 --- a/open_manipulator_description/ros2_control/omy_l100_current.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_l100_current.ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,12 +9,12 @@ - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 4000000 diff --git a/open_manipulator_description/ros2_control/omy_l100_position.ros2_control.xacro b/open_manipulator_description/ros2_control/omy_l100_position.ros2_control.xacro index 2ba95b7a..fdb2dfe6 100644 --- a/open_manipulator_description/ros2_control/omy_l100_position.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/omy_l100_position.ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,12 +9,12 @@ - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 4000000 diff --git a/open_manipulator_description/ros2_control/open_manipulator_x_position.ros2_control.xacro b/open_manipulator_description/ros2_control/open_manipulator_x_position.ros2_control.xacro index eba960f4..8a87387e 100644 --- a/open_manipulator_description/ros2_control/open_manipulator_x_position.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/open_manipulator_x_position.ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,12 +9,12 @@ - - fake_components/GenericSystem - ${fake_sensor_commands} + + mock_components/GenericSystem + ${mock_sensor_commands} 0.0 - + dynamixel_hardware_interface/DynamixelHardware ${port_name} 1000000 diff --git a/open_manipulator_description/urdf/omx_f/omx_f.urdf.xacro b/open_manipulator_description/urdf/omx_f/omx_f.urdf.xacro index bb83232a..aa69aa1e 100644 --- a/open_manipulator_description/urdf/omx_f/omx_f.urdf.xacro +++ b/open_manipulator_description/urdf/omx_f/omx_f.urdf.xacro @@ -2,8 +2,8 @@ - - + + @@ -45,8 +45,8 @@ diff --git a/open_manipulator_description/urdf/omx_l/omx_l.urdf.xacro b/open_manipulator_description/urdf/omx_l/omx_l.urdf.xacro index 16eeae84..2dc24c42 100644 --- a/open_manipulator_description/urdf/omx_l/omx_l.urdf.xacro +++ b/open_manipulator_description/urdf/omx_l/omx_l.urdf.xacro @@ -2,8 +2,8 @@ - - + + @@ -26,8 +26,8 @@ diff --git a/open_manipulator_description/urdf/omy_3m/omy_3m.urdf.xacro b/open_manipulator_description/urdf/omy_3m/omy_3m.urdf.xacro index 7cf41d05..ae43417b 100644 --- a/open_manipulator_description/urdf/omy_3m/omy_3m.urdf.xacro +++ b/open_manipulator_description/urdf/omy_3m/omy_3m.urdf.xacro @@ -2,8 +2,8 @@ - - + + @@ -45,13 +45,13 @@ + use_mock_hardware="$(arg use_mock_hardware)" + mock_sensor_commands="$(arg mock_sensor_commands)"/> + use_mock_hardware="$(arg use_mock_hardware)" + mock_sensor_commands="$(arg mock_sensor_commands)"/> diff --git a/open_manipulator_description/urdf/omy_f3m/omy_f3m.urdf.xacro b/open_manipulator_description/urdf/omy_f3m/omy_f3m.urdf.xacro index c85b96db..934ed114 100644 --- a/open_manipulator_description/urdf/omy_f3m/omy_f3m.urdf.xacro +++ b/open_manipulator_description/urdf/omy_f3m/omy_f3m.urdf.xacro @@ -2,8 +2,8 @@ - - + + @@ -59,13 +59,13 @@ + use_mock_hardware="$(arg use_mock_hardware)" + mock_sensor_commands="$(arg mock_sensor_commands)"/> + use_mock_hardware="$(arg use_mock_hardware)" + mock_sensor_commands="$(arg mock_sensor_commands)"/> diff --git a/open_manipulator_description/urdf/omy_l100/omy_l100.urdf.xacro b/open_manipulator_description/urdf/omy_l100/omy_l100.urdf.xacro index 5c8b017e..dc79a67e 100644 --- a/open_manipulator_description/urdf/omy_l100/omy_l100.urdf.xacro +++ b/open_manipulator_description/urdf/omy_l100/omy_l100.urdf.xacro @@ -2,8 +2,8 @@ - - + + @@ -26,8 +26,8 @@ diff --git a/open_manipulator_description/urdf/open_manipulator_x/open_manipulator_x.urdf.xacro b/open_manipulator_description/urdf/open_manipulator_x/open_manipulator_x.urdf.xacro index 8ef9c308..c14d7bd0 100644 --- a/open_manipulator_description/urdf/open_manipulator_x/open_manipulator_x.urdf.xacro +++ b/open_manipulator_description/urdf/open_manipulator_x/open_manipulator_x.urdf.xacro @@ -2,8 +2,8 @@ - - + + @@ -26,8 +26,8 @@ From 6a61bcc41837473f04fa53c0ac8d110c0a26fac4 Mon Sep 17 00:00:00 2001 From: Wonho Yun Date: Thu, 13 Nov 2025 15:41:19 +0900 Subject: [PATCH 3/6] refactor: remove unused transmission and gripper parameters from open_manipulator_x_position.xacro --- ..._manipulator_x_position.ros2_control.xacro | 25 +++---------------- 1 file changed, 4 insertions(+), 21 deletions(-) diff --git a/open_manipulator_description/ros2_control/open_manipulator_x_position.ros2_control.xacro b/open_manipulator_description/ros2_control/open_manipulator_x_position.ros2_control.xacro index 8a87387e..ff72f64f 100644 --- a/open_manipulator_description/ros2_control/open_manipulator_x_position.ros2_control.xacro +++ b/open_manipulator_description/ros2_control/open_manipulator_x_position.ros2_control.xacro @@ -23,32 +23,11 @@ 5 5 true - - 1, 0, 0, 0, 0, - 0, 1, 0, 0, 0, - 0, 0, 1, 0, 0, - 0, 0, 0, 1, 0, - 0, 0, 0, 0, 1 - - - 1, 0, 0, 0, 0, - 0, 1, 0, 0, 0, - 0, 0, 1, 0, 0, - 0, 0, 0, 1, 0, - 0, 0, 0, 0, 1 - dynamixel_hardware_interface/dxl_state dynamixel_hardware_interface/get_dxl_data dynamixel_hardware_interface/set_dxl_data dynamixel_hardware_interface/reboot_dxl dynamixel_hardware_interface/set_dxl_torque - 1 - dxl5 - -1.52 - 0.92 - ${prefix}gripper_left_joint - 0.019 - -0.01 @@ -170,6 +149,10 @@ 4 0 200 + + Present Position,-0.00001823173887241131,m,signed,0.03827302744020655; + Goal Position,-0.00001823173887241131,m,signed,0.03827302744020655; + From a1b738e46a015ea35c67add757050163d2578b3a Mon Sep 17 00:00:00 2001 From: Wonho Yun Date: Thu, 13 Nov 2025 15:50:15 +0900 Subject: [PATCH 4/6] chore: bump package versions to 4.1.1 and update changelogs for all modules --- open_manipulator/CHANGELOG.rst | 7 ++++++- open_manipulator/package.xml | 2 +- open_manipulator_bringup/CHANGELOG.rst | 7 ++++++- open_manipulator_bringup/package.xml | 2 +- open_manipulator_bringup/setup.py | 2 +- open_manipulator_collision/CHANGELOG.rst | 6 +++++- open_manipulator_collision/package.xml | 2 +- open_manipulator_description/CHANGELOG.rst | 7 ++++++- open_manipulator_description/package.xml | 2 +- open_manipulator_gui/CHANGELOG.rst | 6 +++++- open_manipulator_gui/package.xml | 2 +- open_manipulator_moveit_config/CHANGELOG.rst | 6 +++++- open_manipulator_moveit_config/package.xml | 2 +- open_manipulator_playground/CHANGELOG.rst | 6 +++++- open_manipulator_playground/package.xml | 2 +- open_manipulator_teleop/CHANGELOG.rst | 6 +++++- open_manipulator_teleop/package.xml | 2 +- open_manipulator_teleop/setup.py | 2 +- .../om_gravity_compensation_controller/CHANGELOG.rst | 6 +++++- .../om_gravity_compensation_controller/package.xml | 2 +- .../om_joint_trajectory_command_broadcaster/CHANGELOG.rst | 6 +++++- .../om_joint_trajectory_command_broadcaster/package.xml | 2 +- .../om_spring_actuator_controller/CHANGELOG.rst | 6 +++++- ros2_controller/om_spring_actuator_controller/package.xml | 2 +- 24 files changed, 71 insertions(+), 24 deletions(-) diff --git a/open_manipulator/CHANGELOG.rst b/open_manipulator/CHANGELOG.rst index c5f93ba1..f867883b 100644 --- a/open_manipulator/CHANGELOG.rst +++ b/open_manipulator/CHANGELOG.rst @@ -2,8 +2,13 @@ Changelog for package open_manipulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* Update for new DHI, mock_components +* Contributors: Woojin Wie + 4.1.0 (2025-10-24) -------------------- +------------------ * Support OMX-F GUI * Support OMX-F Keyboard Teleop * Contributors: Heewon Lee diff --git a/open_manipulator/package.xml b/open_manipulator/package.xml index d27bb87d..82bd5a7b 100644 --- a/open_manipulator/package.xml +++ b/open_manipulator/package.xml @@ -2,7 +2,7 @@ open_manipulator - 4.1.0 + 4.1.1 OpenMANIPULATOR meta ROS 2 package. diff --git a/open_manipulator_bringup/CHANGELOG.rst b/open_manipulator_bringup/CHANGELOG.rst index a2c6a2d1..2ae74087 100644 --- a/open_manipulator_bringup/CHANGELOG.rst +++ b/open_manipulator_bringup/CHANGELOG.rst @@ -2,8 +2,13 @@ Changelog for package open_manipulator_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* Update for mock_components +* Contributors: Woojin Wie + 4.1.0 (2025-10-24) -------------------- +------------------ * None 4.0.10 (2025-10-23) diff --git a/open_manipulator_bringup/package.xml b/open_manipulator_bringup/package.xml index 588255cf..8c5b1c6e 100644 --- a/open_manipulator_bringup/package.xml +++ b/open_manipulator_bringup/package.xml @@ -2,7 +2,7 @@ open_manipulator_bringup - 4.1.0 + 4.1.1 OpenMANIPULATOR bringup ROS 2 package. Pyo Apache 2.0 diff --git a/open_manipulator_bringup/setup.py b/open_manipulator_bringup/setup.py index d76cb303..091d0910 100644 --- a/open_manipulator_bringup/setup.py +++ b/open_manipulator_bringup/setup.py @@ -8,7 +8,7 @@ setup( name=package_name, - version='4.1.0', + version='4.1.1', packages=find_packages(exclude=['test']), data_files=[ ('share/ament_index/resource_index/packages', ['resource/' + package_name]), diff --git a/open_manipulator_collision/CHANGELOG.rst b/open_manipulator_collision/CHANGELOG.rst index 45ef6a1f..873e64fb 100644 --- a/open_manipulator_collision/CHANGELOG.rst +++ b/open_manipulator_collision/CHANGELOG.rst @@ -2,8 +2,12 @@ Changelog for package open_manipulator_collision ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* None + 4.1.0 (2025-10-24) -------------------- +------------------ * None 4.0.10 (2025-10-23) diff --git a/open_manipulator_collision/package.xml b/open_manipulator_collision/package.xml index 809e36a2..bc41bb6a 100644 --- a/open_manipulator_collision/package.xml +++ b/open_manipulator_collision/package.xml @@ -2,7 +2,7 @@ open_manipulator_collision - 4.1.0 + 4.1.1 This package implements a self-collision detection system for the follower robot during leader-follower teleoperation. Its primary purpose is to enhance safety by detecting diff --git a/open_manipulator_description/CHANGELOG.rst b/open_manipulator_description/CHANGELOG.rst index 158b9618..ddba391a 100644 --- a/open_manipulator_description/CHANGELOG.rst +++ b/open_manipulator_description/CHANGELOG.rst @@ -2,8 +2,13 @@ Changelog for package open_manipulator_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* Update for new DHI, mock_components +* Contributors: Woojin Wie + 4.1.0 (2025-10-24) -------------------- +------------------ * None 4.0.10 (2025-10-23) diff --git a/open_manipulator_description/package.xml b/open_manipulator_description/package.xml index eee3d9d6..790550a5 100644 --- a/open_manipulator_description/package.xml +++ b/open_manipulator_description/package.xml @@ -2,7 +2,7 @@ open_manipulator_description - 4.1.0 + 4.1.1 open_manipulator_description ROS 2 package. diff --git a/open_manipulator_gui/CHANGELOG.rst b/open_manipulator_gui/CHANGELOG.rst index 558f1512..26cee507 100644 --- a/open_manipulator_gui/CHANGELOG.rst +++ b/open_manipulator_gui/CHANGELOG.rst @@ -2,8 +2,12 @@ Changelog for package open_manipulator_gui ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* None + 4.1.0 (2025-10-24) -------------------- +------------------ * Support OMX-F GUI * Contributors: Heewon Lee diff --git a/open_manipulator_gui/package.xml b/open_manipulator_gui/package.xml index 566777f9..03e010b6 100644 --- a/open_manipulator_gui/package.xml +++ b/open_manipulator_gui/package.xml @@ -2,7 +2,7 @@ open_manipulator_gui - 4.1.0 + 4.1.1 The OpenMANIPULATOR GUI ROS 2 package enables users to explore Joint Space, Task Space, and even work with the Task Constructor functionality. diff --git a/open_manipulator_moveit_config/CHANGELOG.rst b/open_manipulator_moveit_config/CHANGELOG.rst index b9539d1c..130d0cae 100644 --- a/open_manipulator_moveit_config/CHANGELOG.rst +++ b/open_manipulator_moveit_config/CHANGELOG.rst @@ -2,8 +2,12 @@ Changelog for package open_manipulator_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* None + 4.1.0 (2025-10-24) -------------------- +------------------ * None 4.0.10 (2025-10-23) diff --git a/open_manipulator_moveit_config/package.xml b/open_manipulator_moveit_config/package.xml index 58c24f8f..2a21709c 100644 --- a/open_manipulator_moveit_config/package.xml +++ b/open_manipulator_moveit_config/package.xml @@ -2,7 +2,7 @@ open_manipulator_moveit_config - 4.1.0 + 4.1.1 An automatically generated package with all the configuration and launch files for using the open_manipulator_x with the MoveIt Motion Planning Framework diff --git a/open_manipulator_playground/CHANGELOG.rst b/open_manipulator_playground/CHANGELOG.rst index 05e20796..f78d27dd 100644 --- a/open_manipulator_playground/CHANGELOG.rst +++ b/open_manipulator_playground/CHANGELOG.rst @@ -2,8 +2,12 @@ Changelog for package open_manipulator_playground ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* None + 4.1.0 (2025-10-24) -------------------- +------------------ * None 4.0.10 (2025-10-23) diff --git a/open_manipulator_playground/package.xml b/open_manipulator_playground/package.xml index e9dc286a..8a96a67d 100644 --- a/open_manipulator_playground/package.xml +++ b/open_manipulator_playground/package.xml @@ -2,7 +2,7 @@ open_manipulator_playground - 4.1.0 + 4.1.1 This package provides an example for utilizing the MoveIt API with the OpenMANIPULATOR, allowing users to practice and experiment freely. diff --git a/open_manipulator_teleop/CHANGELOG.rst b/open_manipulator_teleop/CHANGELOG.rst index 315c4c18..5b3ae1a8 100644 --- a/open_manipulator_teleop/CHANGELOG.rst +++ b/open_manipulator_teleop/CHANGELOG.rst @@ -2,8 +2,12 @@ Changelog for package open_manipulator_teleop ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* None + 4.1.0 (2025-10-24) -------------------- +------------------ * Support OMX-F Keyboard Teleop * Contributors: Heewon Lee diff --git a/open_manipulator_teleop/package.xml b/open_manipulator_teleop/package.xml index 2a117cb9..4f9159f3 100644 --- a/open_manipulator_teleop/package.xml +++ b/open_manipulator_teleop/package.xml @@ -2,7 +2,7 @@ open_manipulator_teleop - 4.1.0 + 4.1.1 OpenManipulator teleoperation package Pyo Apache License 2.0 diff --git a/open_manipulator_teleop/setup.py b/open_manipulator_teleop/setup.py index e846ba7a..1446fdff 100644 --- a/open_manipulator_teleop/setup.py +++ b/open_manipulator_teleop/setup.py @@ -8,7 +8,7 @@ setup( name=package_name, - version='4.1.0', + version='4.1.1', packages=find_packages(exclude=[]), data_files=[ ('share/ament_index/resource_index/packages', ['resource/' + package_name]), diff --git a/ros2_controller/om_gravity_compensation_controller/CHANGELOG.rst b/ros2_controller/om_gravity_compensation_controller/CHANGELOG.rst index fc040480..2e26c65d 100644 --- a/ros2_controller/om_gravity_compensation_controller/CHANGELOG.rst +++ b/ros2_controller/om_gravity_compensation_controller/CHANGELOG.rst @@ -2,8 +2,12 @@ Changelog for package om_gravity_compensation_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* None + 4.1.0 (2025-10-24) -------------------- +------------------ * None 4.0.10 (2025-10-23) diff --git a/ros2_controller/om_gravity_compensation_controller/package.xml b/ros2_controller/om_gravity_compensation_controller/package.xml index 9b2898db..6baebc8d 100644 --- a/ros2_controller/om_gravity_compensation_controller/package.xml +++ b/ros2_controller/om_gravity_compensation_controller/package.xml @@ -2,7 +2,7 @@ om_gravity_compensation_controller - 4.1.0 + 4.1.1 Controller for compensating for gravity on a group of joints diff --git a/ros2_controller/om_joint_trajectory_command_broadcaster/CHANGELOG.rst b/ros2_controller/om_joint_trajectory_command_broadcaster/CHANGELOG.rst index 09c57025..e413614b 100644 --- a/ros2_controller/om_joint_trajectory_command_broadcaster/CHANGELOG.rst +++ b/ros2_controller/om_joint_trajectory_command_broadcaster/CHANGELOG.rst @@ -2,8 +2,12 @@ Changelog for package om_joint_trajectory_command_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* None + 4.1.0 (2025-10-24) -------------------- +------------------ * None 4.0.10 (2025-10-23) diff --git a/ros2_controller/om_joint_trajectory_command_broadcaster/package.xml b/ros2_controller/om_joint_trajectory_command_broadcaster/package.xml index 8bb88973..bfc9dacd 100644 --- a/ros2_controller/om_joint_trajectory_command_broadcaster/package.xml +++ b/ros2_controller/om_joint_trajectory_command_broadcaster/package.xml @@ -2,7 +2,7 @@ om_joint_trajectory_command_broadcaster - 4.1.0 + 4.1.1 Joint Trajectory Command Broadcaster ROS 2 package. diff --git a/ros2_controller/om_spring_actuator_controller/CHANGELOG.rst b/ros2_controller/om_spring_actuator_controller/CHANGELOG.rst index edc0a4ba..af6708e3 100644 --- a/ros2_controller/om_spring_actuator_controller/CHANGELOG.rst +++ b/ros2_controller/om_spring_actuator_controller/CHANGELOG.rst @@ -2,8 +2,12 @@ Changelog for package om_spring_actuator_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.1.1 (2025-11-13) +------------------ +* None + 4.1.0 (2025-10-24) -------------------- +------------------ * None 4.0.10 (2025-10-23) diff --git a/ros2_controller/om_spring_actuator_controller/package.xml b/ros2_controller/om_spring_actuator_controller/package.xml index a12ed6de..74841379 100644 --- a/ros2_controller/om_spring_actuator_controller/package.xml +++ b/ros2_controller/om_spring_actuator_controller/package.xml @@ -2,7 +2,7 @@ om_spring_actuator_controller - 4.1.0 + 4.1.1 Spring Actuator Controller ROS 2 package. From 53a641d52d79a37ef4efb4456be1984c1dc018ca Mon Sep 17 00:00:00 2001 From: Woojin Wie Date: Thu, 13 Nov 2025 15:51:10 +0900 Subject: [PATCH 5/6] chore: update docker-compose configuration to improve resource sharing and IPC settings --- docker/docker-compose.yml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml index 555b3402..4cf2412c 100644 --- a/docker/docker-compose.yml +++ b/docker/docker-compose.yml @@ -14,14 +14,17 @@ services: rttime: -1 memlock: 8428281856 network_mode: host + ipc: host + pid: host environment: - DISPLAY=${DISPLAY} - QT_X11_NO_MITSHM=1 volumes: - /dev:/dev - - ./workspace:/workspace + - /dev/shm:/dev/shm - /tmp/.X11-unix:/tmp/.X11-unix:rw - /tmp/.docker.xauth:/tmp/.docker.xauth:rw + - ./workspace:/workspace - ../:/root/ros2_ws/src/open_manipulator/ privileged: true command: bash From 92cc48d8c94ec210b58cc6d13d27435bb9f878a5 Mon Sep 17 00:00:00 2001 From: Woojin Wie Date: Thu, 13 Nov 2025 15:51:49 +0900 Subject: [PATCH 6/6] chore: update CHANGELOG to reflect docker-compose.yml changes for IPC, PID, and shared memory --- open_manipulator/CHANGELOG.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/open_manipulator/CHANGELOG.rst b/open_manipulator/CHANGELOG.rst index f867883b..6388b0bf 100644 --- a/open_manipulator/CHANGELOG.rst +++ b/open_manipulator/CHANGELOG.rst @@ -5,6 +5,7 @@ Changelog for package open_manipulator 4.1.1 (2025-11-13) ------------------ * Update for new DHI, mock_components +* Update for docker-compose.yml to use host IPC and PID and shared memory * Contributors: Woojin Wie 4.1.0 (2025-10-24)