Merge pull request #1113 from ROBOTIS-GIT/feature-odometry-initalization-fix

GyuH13 · web-flow · commit ffbc7e84d839 · 2025-07-08T09:30:43.000+09:00
Odometry initalization fix
diff --git a/turtlebot3/CHANGELOG.rst b/turtlebot3/CHANGELOG.rst
@@ -2,16 +2,21 @@
 Changelog for package turtlebot3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.2 (2025-07-08)
+------------------
+* Added class member variable initialization statement in the odometry node
+* Contributors: Hyungyu Kim
+
 2.3.1 (2025-05-30)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt
 * Added launch arguments to camera.launch.py file to configure the camera image resolution at runtime via the CLI
-* Contributor: Hyungyu Kim, YeonSoo Noh
+* Contributors: Hyungyu Kim, YeonSoo Noh
 
 2.3.0 (2025-05-23)
 ------------------
 * Added a launch file using camera_ros to resolve the camera cropping issue
-* Contributor: YeonSoo Noh
+* Contributors: YeonSoo Noh
 
 2.2.9 (2025-04-15)
 ------------------
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>2.3.1</version>
+  <version>2.3.2</version>
   <description>
     ROS 2 packages for TurtleBot3
   </description>
diff --git a/turtlebot3_bringup/CHANGELOG.rst b/turtlebot3_bringup/CHANGELOG.rst
@@ -2,15 +2,19 @@
 Changelog for package turtlebot3_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.2 (2025-07-08)
+------------------
+* None
+
 2.3.1 (2025-05-30)
 ------------------
 * Added launch arguments to camera.launch.py file to configure the camera image resolution at runtime via the CLI
-* Contributor: YeonSoo Noh
+* Contributors: YeonSoo Noh
 
 2.3.0 (2025-05-23)
 ------------------
 * Added a launch file using camera_ros to resolve the camera cropping issue
-* Contributor: YeonSoo Noh
+* Contributors: YeonSoo Noh
 
 2.2.9 (2025-04-15)
 ------------------
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>2.3.1</version>
+  <version>2.3.2</version>
   <description>
     ROS 2 launch scripts for starting the TurtleBot3
   </description>
diff --git a/turtlebot3_cartographer/CHANGELOG.rst b/turtlebot3_cartographer/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.2 (2025-07-08)
+------------------
+* None
+
 2.3.1 (2025-05-30)
 ------------------
 * 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>2.3.1</version>
+  <version>2.3.2</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.2 (2025-07-08)
+------------------
+* None
+
 2.3.1 (2025-05-30)
 ------------------
 * 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>2.3.1</version>
+  <version>2.3.2</version>
   <description>
     3D models of the TurtleBot3 for simulation and visualization
   </description>
@@ -16,6 +16,7 @@
   <author email="willson@robotis.com">Will Son</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>urdf</depend>
+  <depend>xacro</depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/turtlebot3_example/CHANGELOG.rst b/turtlebot3_example/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.2 (2025-07-08)
+------------------
+* None
+
 2.3.1 (2025-05-30)
 ------------------
 * 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>2.3.1</version>
+  <version>2.3.2</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='2.3.1',
+    version='2.3.2',
     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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.2 (2025-07-08)
+------------------
+* None
+
 2.3.1 (2025-05-30)
 ------------------
 * 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>2.3.1</version>
+  <version>2.3.2</version>
   <description>
     ROS 2 launch scripts for navigation2
   </description>
diff --git a/turtlebot3_node/CHANGELOG.rst b/turtlebot3_node/CHANGELOG.rst
@@ -2,10 +2,15 @@
 Changelog for package turtlebot3_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.2 (2025-07-08)
+------------------
+* Added class member variable initialization statement in the odometry node
+* Contributors: Hyungyu Kim
+
 2.3.1 (2025-05-30)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt
-* Contributor: Hyungyu Kim
+* Contributors: Hyungyu Kim
 
 2.3.0 (2025-05-23)
 ------------------
diff --git a/turtlebot3_node/CMakeLists.txt b/turtlebot3_node/CMakeLists.txt
@@ -11,6 +11,7 @@ endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 
 ################################################################################
 # Find ament packages and libraries for ament and system dependencies
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>2.3.1</version>
+  <version>2.3.2</version>
   <description>
     TurtleBot3 driver node that include diff drive controller, odometry and tf node
   </description>
diff --git a/turtlebot3_node/src/odometry.cpp b/turtlebot3_node/src/odometry.cpp
@@ -33,7 +33,9 @@ Odometry::Odometry(
   use_imu_(false),
   publish_tf_(false),
   last_theta_initialized_(false),
-  imu_angle_(0.0f)
+  imu_angle_(0.0f),
+  robot_pose_({0.0, 0.0, 0.0}),
+  robot_vel_({0.0, 0.0, 0.0})
 {
   RCLCPP_INFO(nh_->get_logger(), "Init Odometry");
 
diff --git a/turtlebot3_teleop/CHANGELOG.rst b/turtlebot3_teleop/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_teleop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.2 (2025-07-08)
+------------------
+* None
+
 2.3.1 (2025-05-30)
 ------------------
 * 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>2.3.1</version>
+  <version>2.3.2</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='2.3.1',
+    version='2.3.2',
     packages=find_packages(exclude=[]),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
