Skip to content

Update for new DHI, mock_components #354

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 6 commits into
base: main
Choose a base branch
from
Open

Update for new DHI, mock_components #354

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
b630d41
feat: update omy_hat GPIO configuration to multiple xacro files
Woojin-Crive Nov 13, 2025
ab4ce13
refactor: rename fake hardware and sensor command arguments to mock i…
Woojin-Crive Nov 13, 2025
6a61bcc
refactor: remove unused transmission and gripper parameters from open…
yun-goon Nov 13, 2025
a1b738e
chore: bump package versions to 4.1.1 and update changelogs for all m…
yun-goon Nov 13, 2025
53a641d
chore: update docker-compose configuration to improve resource sharin…
Woojin-Crive Nov 13, 2025
92cc48d
chore: update CHANGELOG to reflect docker-compose.yml changes for IPC…
Woojin-Crive Nov 13, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 4 additions & 1 deletion docker/docker-compose.yml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
8 changes: 7 additions & 1 deletion open_manipulator/CHANGELOG.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,14 @@
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)
-------------------
------------------
* Support OMX-F GUI
* Support OMX-F Keyboard Teleop
* Contributors: Heewon Lee
Expand Down
2 changes: 1 addition & 1 deletion open_manipulator/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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>open_manipulator</name>
<version>4.1.0</version>
<version>4.1.1</version>
<description>
OpenMANIPULATOR meta ROS 2 package.
</description>
Expand Down
7 changes: 6 additions & 1 deletion open_manipulator_bringup/CHANGELOG.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omx_f.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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',
Expand Down Expand Up @@ -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')
Expand All @@ -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,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omx_f_follower_ai.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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',
Expand All @@ -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')
Expand All @@ -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,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omx_l_leader_ai.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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',
Expand All @@ -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')

Expand All @@ -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,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omy_3m.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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',
Expand All @@ -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')
Expand All @@ -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,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omy_f3m.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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',
Expand All @@ -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')
Expand All @@ -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,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omy_f3m_follower_ai.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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',
Expand All @@ -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')
Expand All @@ -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,
Expand Down
20 changes: 10 additions & 10 deletions open_manipulator_bringup/launch/omy_f3m_leader_ai.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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',
Expand All @@ -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
Expand All @@ -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,
Expand Down
Loading
Loading