Merge pull request #1089 from ROBOTIS-GIT/feature-multi-robot-upgrade

Feature multi robot upgrade

Author: GyuH13

README.md

@@ -1,7 +1,7 @@
 # TurtleBot3
 <img src="https://raw.githubusercontent.com/ROBOTIS-GIT/emanual/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
 
-- Active Branches: noetic, humble, main
+- Active Branches: noetic, humble, jazzy, main
 - Legacy Branches: *-devel
 
 ## Open Source Projects Related to TurtleBot3

turtlebot3/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package turtlebot3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.8 (2025-04-11)
+------------------
+* Support flexible configuration of the frame_id used when publishing the topic
+* Contributors: Hyungyu Kim
+
 2.2.7 (2025-03-27)
 ------------------
 * Modified Relative Move

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>2.2.7</version>
+  <version>2.2.8</version>
   <description>
     ROS 2 packages for TurtleBot3
   </description>

turtlebot3_bringup/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.8 (2025-04-11)
+------------------
+* Support flexible configuration of the frame_id used when publishing the topic
+* Contributors: Hyungyu Kim
+
 2.2.7 (2025-03-27)
 ------------------
 * None

turtlebot3_bringup/launch/robot.launch.py

@@ -24,7 +24,6 @@
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
-from launch.substitutions import PythonExpression
 from launch.substitutions import ThisLaunchFileDir
 from launch_ros.actions import Node
 from launch_ros.actions import PushRosNamespace
@@ -104,17 +103,17 @@ def generate_launch_description():
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([lidar_pkg_dir, LDS_LAUNCH_FILE]),
-            launch_arguments={'port': '/dev/ttyUSB0', 'frame_id': 'base_scan'}.items(),
+            launch_arguments={'port': '/dev/ttyUSB0',
+                              'frame_id': 'base_scan',
+                              'namespace': namespace}.items(),
         ),
 
         Node(
             package='turtlebot3_node',
             executable='turtlebot3_ros',
             parameters=[
                 tb3_param_dir,
-                {'odometry.frame_id': PythonExpression(['"', namespace, '/odom"'])},
-                {'odometry.child_frame_id': PythonExpression(
-                    ['"', namespace, '/base_footprint"'])}],
+                {'namespace': namespace}],
             arguments=['-i', usb_port],
             output='screen'),
     ])

turtlebot3_bringup/launch/turtlebot3_state_publisher.launch.py

@@ -21,6 +21,7 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command
 from launch.substitutions import LaunchConfiguration
 from launch.substitutions import PythonExpression
 from launch_ros.actions import Node
@@ -41,10 +42,15 @@ def generate_launch_description():
         'urdf',
         urdf_file_name)
 
+    robot_desc = Command([
+        'xacro ',
+        urdf,
+        ' namespace:=',
+        PythonExpression(['"', namespace, '" + "/" if "', namespace, '" != "" else ""']),
+    ])
+
     # Major refactor of the robot_state_publisher
     # Reference page: https://github.com/ros2/demos/pull/426
-    with open(urdf, 'r') as infp:
-        robot_desc = infp.read()
 
     rsp_params = {'robot_description': robot_desc}
 
@@ -61,6 +67,5 @@ def generate_launch_description():
             output='screen',
             parameters=[
                     rsp_params,
-                    {'use_sim_time': use_sim_time},
-                    {'frame_prefix': PythonExpression(['"', namespace, '/"'])}])
+                    {'use_sim_time': use_sim_time}])
     ])

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>2.2.7</version>
+  <version>2.2.8</version>
   <description>
     ROS 2 launch scripts for starting the TurtleBot3
   </description>

turtlebot3_cartographer/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.8 (2025-04-11)
+------------------
+* None
+
 2.2.7 (2025-03-27)
 ------------------
 * None

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>2.2.7</version>
+  <version>2.2.8</version>
   <description>
     ROS 2 launch scripts for cartographer
   </description>

turtlebot3_description/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.8 (2025-04-11)
+------------------
+* Support flexible configuration of the frame_id used when publishing the topic
+* Contributors: Hyungyu Kim
+
 2.2.7 (2025-03-27)
 ------------------
 * None