Merge pull request #1116 from ROBOTIS-GIT/feature-coind4-update

GyuH13 · web-flow · commit 9d216c12e2bd · 2025-07-14T11:01:49.000+09:00
Support LDS03 (Coin D4)
diff --git a/turtlebot3/CHANGELOG.rst b/turtlebot3/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.3 (2025-07-11)
+------------------
+* Supported COIN D4 LIDAR(ld03)
+* Contributors: Hyungyu Kim
+
 2.3.2 (2025-07-08)
 ------------------
 * Added class member variable initialization statement in the odometry node
diff --git a/turtlebot3/package.xml b/turtlebot3/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</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>
     ROS 2 packages for TurtleBot3
   </description>
diff --git a/turtlebot3_bringup/CHANGELOG.rst b/turtlebot3_bringup/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.3 (2025-07-11)
+------------------
+* Supported COIN D4 LIDAR(ld03)
+* Contributors: Hyungyu Kim
+
 2.3.2 (2025-07-08)
 ------------------
 * None
diff --git a/turtlebot3_bringup/launch/robot.launch.py b/turtlebot3_bringup/launch/robot.launch.py
@@ -64,6 +64,11 @@ def generate_launch_description():
             'lidar_pkg_dir',
             default=os.path.join(get_package_share_directory('ld08_driver'), 'launch'))
         LDS_LAUNCH_FILE = '/ld08.launch.py'
+    elif LDS_MODEL == 'LDS-03':
+        lidar_pkg_dir = LaunchConfiguration(
+            'lidar_pkg_dir',
+            default=os.path.join(get_package_share_directory('coin_d4_driver'), 'launch'))
+        LDS_LAUNCH_FILE = '/single_lidar_node.launch.py'
     else:
         lidar_pkg_dir = LaunchConfiguration(
             'lidar_pkg_dir',
diff --git a/turtlebot3_bringup/package.xml b/turtlebot3_bringup/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_bringup</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>
     ROS 2 launch scripts for starting the TurtleBot3
   </description>
diff --git a/turtlebot3_bringup/script/99-turtlebot3-cdc.rules b/turtlebot3_bringup/script/99-turtlebot3-cdc.rules
@@ -7,4 +7,4 @@
 ATTRS{idVendor}=="0483" ATTRS{idProduct}=="5740", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666"
 ATTRS{idVendor}=="0483" ATTRS{idProduct}=="df11", MODE:="0666"
 ATTRS{idVendor}=="fff1" ATTRS{idProduct}=="ff48", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666"
-ATTRS{idVendor}=="10c4" ATTRS{idProduct}=="ea60", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666"
+ATTRS{idVendor}=="10c4" ATTRS{idProduct}=="ea60", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666" SYMLINK+="tb3_lidar"
diff --git a/turtlebot3_cartographer/CHANGELOG.rst b/turtlebot3_cartographer/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.3 (2025-07-11)
+------------------
+* None
+
 2.3.2 (2025-07-08)
 ------------------
 * None
diff --git a/turtlebot3_cartographer/package.xml b/turtlebot3_cartographer/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_cartographer</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>
     ROS 2 launch scripts for cartographer
   </description>
diff --git a/turtlebot3_description/CHANGELOG.rst b/turtlebot3_description/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.3 (2025-07-11)
+------------------
+* None
+
 2.3.2 (2025-07-08)
 ------------------
 * None
diff --git a/turtlebot3_description/package.xml b/turtlebot3_description/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_description</name>
-  <version>2.3.2</version>
+  <version>2.3.3</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.3 (2025-07-11)
+------------------
+* None
+
 2.3.2 (2025-07-08)
 ------------------
 * None
diff --git a/turtlebot3_example/package.xml b/turtlebot3_example/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_example</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>
     This package provides four basic examples for TurtleBot3 (i.e., interactive marker, object detection, patrol and position control).
   </description>
diff --git a/turtlebot3_example/setup.py b/turtlebot3_example/setup.py
@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version='2.3.2',
+    version='2.3.3',
     packages=find_packages(),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
diff --git a/turtlebot3_navigation2/CHANGELOG.rst b/turtlebot3_navigation2/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_navigation2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.3 (2025-07-11)
+------------------
+* None
+
 2.3.2 (2025-07-08)
 ------------------
 * None
diff --git a/turtlebot3_navigation2/package.xml b/turtlebot3_navigation2/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_navigation2</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>
     ROS 2 launch scripts for navigation2
   </description>
diff --git a/turtlebot3_node/CHANGELOG.rst b/turtlebot3_node/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.3 (2025-07-11)
+------------------
+* None
+
 2.3.2 (2025-07-08)
 ------------------
 * Added class member variable initialization statement in the odometry node
diff --git a/turtlebot3_node/package.xml b/turtlebot3_node/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_node</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>
     TurtleBot3 driver node that include diff drive controller, odometry and tf node
   </description>
diff --git a/turtlebot3_teleop/CHANGELOG.rst b/turtlebot3_teleop/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_teleop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.3 (2025-07-11)
+------------------
+* None
+
 2.3.2 (2025-07-08)
 ------------------
 * None
diff --git a/turtlebot3_teleop/package.xml b/turtlebot3_teleop/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_teleop</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>
     Teleoperation node using keyboard for TurtleBot3.
   </description>
diff --git a/turtlebot3_teleop/setup.py b/turtlebot3_teleop/setup.py
@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version='2.3.2',
+    version='2.3.3',
     packages=find_packages(exclude=[]),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
