Merge pull request #226 from ROBOTIS-GIT/feature-auto-race-simulation

Add autorace2020 map and model and  Fix model's mesh in rviz and gazebo.

Author: GyuH13

.github/workflows/ros-lint.yml

@@ -14,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        linter: [cppcheck, cpplint, flake8, pep257, lint_cmake, xmllint, copyright]
+        linter: [cppcheck, cpplint, uncrustify, flake8, pep257, lint_cmake, xmllint, copyright]
     steps:
       - name: Checkout code
         uses: actions/checkout@v4

README.md

@@ -1,42 +1,40 @@
 # TurtleBot3
-<img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
+<img src="https://raw.githubusercontent.com/ROBOTIS-GIT/emanual/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
 
 - Active Branches: noetic, humble, main
 - Legacy Branches: *-devel
 
-## ROBOTIS e-Manual for TurtleBot3
-- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
-
-## Wiki for turtlebot3_simulations Packages
-- http://wiki.ros.org/turtlebot3_simulations (metapackage)
-- http://wiki.ros.org/turtlebot3_fake
-- http://wiki.ros.org/turtlebot3_gazebo
-
-## Open Source related to TurtleBot3
+## Open Source Projects Related to TurtleBot3
 - [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3)
 - [turtlebot3_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_msgs)
 - [turtlebot3_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_simulations)
-- [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs)
+- [turtlebot3_manipulation](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation)
+- [turtlebot3_manipulation_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations)
 - [turtlebot3_applications](https://github.com/ROBOTIS-GIT/turtlebot3_applications)
+- [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs)
+- [turtlebot3_machine_learning](https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning)
 - [turtlebot3_autorace](https://github.com/ROBOTIS-GIT/turtlebot3_autorace)
-- [turtlebot3_deliver](https://github.com/ROBOTIS-GIT/turtlebot3_deliver)
+- [turtlebot3_home_service_challenge](https://github.com/ROBOTIS-GIT/turtlebot3_home_service_challenge)
 - [hls_lfcd_lds_driver](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver)
 - [ld08_driver](https://github.com/ROBOTIS-GIT/ld08_driver)
-- [open_manipulator_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_msgs)
 - [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator)
-- [open_manipulator_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_simulations)
-- [open_manipulator_perceptions](https://github.com/ROBOTIS-GIT/open_manipulator_perceptions)
-- [open_manipulator_with_tb3_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_msgs)
-- [open_manipulator_with_tb3](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3)
-- [open_manipulator_with_tb3_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_simulations)
 - [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
 - [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
 - [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
 
-## Documents and Videos related to TurtleBot3
-- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
-- [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/)
-- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
-- [Website for TurtleBot Series](http://www.turtlebot.com/)
-- [e-Book for TurtleBot3](https://community.robotsource.org/t/download-the-ros-robot-programming-book-for-free/51/)
-- [Videos for TurtleBot3 ](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU)
+## Documentation, Videos, and Community
+
+### Official Documentation
+- ⚙️ **[ROBOTIS DYNAMIXEL](https://dynamixel.com/)** – Official website for DYNAMIXEL
+- 📚 **[ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)** – Official guide for Dynamixel SDK
+- 📚 **[ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)** – Official guide for TurtleBot3
+- 📚 **[ROBOTIS e-Manual for OpenMANIPULATOR-X](https://emanual.robotis.com/docs/en/platform/openmanipulator_x/overview/)** – Official guide for OpenMANIPULATOR-X
+
+### Learning Resources
+- 🎥 **[ROBOTIS YouTube Channel](https://www.youtube.com/@ROBOTISCHANNEL)**
+- 🎥 **[ROBOTIS Open Source YouTube Channel](https://www.youtube.com/@ROBOTISOpenSourceTeam)**
+- 🎥 **[ROBOTIS TurtleBot3 YouTube Playlist](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU)** – Video tutorials for TurtleBot3
+- 🎥 **[ROBOTIS OpenMANIPULATOR YouTube Playlist](https://www.youtube.com/playlist?list=PLRG6WP3c31_WpEsB6_Rdt3KhiopXQlUkb)** – Video tutorials for OpenMANIPULATOR
+
+### Community & Support
+- 💬 **[ROBOTIS Community Forum](https://forum.robotis.com/)** – Get help and discuss with other users

turtlebot3_fake_node/CHANGELOG.rst

@@ -2,18 +2,23 @@
 Changelog for package turtlebot3_fake
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.0 (2025-02-17)
+------------------
+* None
+
 2.2.6 (2202-05-26)
 ------------------
-* ROS2 Humble Hawksbill supported
+* ROS 2 Humble Hawksbill supported
+* Contributors: Will Son
 
 2.2.5 (2021-08-25)
 ------------------
-* Release for ROS2 Rolling
+* Release for ROS 2 Rolling
 * Contributors: Will Son
 
 2.2.4 (2021-06-14)
 ------------------
-* Release for ROS2 Galactic
+* Release for ROS 2 Galactic
 * Clean up unncessary files
 * Use turtlebot3_common mesh modeling
 * Independent turtlebot3_simulations package
@@ -26,7 +31,7 @@ Changelog for package turtlebot3_fake
 
 2.2.2 (2021-02-24)
 ------------------
-* none
+* None
 
 2.2.1 (2021-01-13)
 ------------------
@@ -36,7 +41,7 @@ Changelog for package turtlebot3_fake
 
 2.2.0 (2020-06-29)
 ------------------
-* none
+* None
 
 2.1.0 (2019-09-10)
 ------------------
@@ -46,15 +51,15 @@ Changelog for package turtlebot3_fake
 
 2.0.1 (2019-09-05)
 ------------------
-* none
+* None
 
 2.0.0 (2019-08-20)
 ------------------
-* none
+* None
 
 1.3.0 (2020-06-29)
 ------------------
-* none
+* None
 
 1.2.0 (2019-01-22)
 ------------------
@@ -68,31 +73,31 @@ Changelog for package turtlebot3_fake
 
 1.0.2 (2018-06-01)
 ------------------
-* none
+* None
 
 1.0.1 (2018-05-30)
 ------------------
-* none
+* None
 
 1.0.0 (2018-05-29)
 ------------------
-* none
+* None
 
 0.2.4 (2018-03-14)
 ------------------
-* none
+* None
 
 0.2.3 (2018-03-14)
 ------------------
-* none
+* None
 
 0.2.2 (2018-03-14)
 ------------------
-* none
+* None
 
 0.2.1 (2018-03-14)
 ------------------
-* none
+* None
 
 0.2.0 (2018-03-13)
 ------------------
@@ -101,7 +106,7 @@ Changelog for package turtlebot3_fake
 
 0.1.7 (2017-08-16)
 ------------------
-* none
+* None
 
 0.1.6 (2017-08-14)
 ------------------
@@ -110,7 +115,7 @@ Changelog for package turtlebot3_fake
 
 0.1.5 (2017-06-09)
 ------------------
-* none
+* None
 
 0.1.4 (2017-05-23)
 ------------------

turtlebot3_fake_node/package.xml

@@ -2,19 +2,20 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_fake_node</name>
-  <version>2.2.6</version>
+  <version>2.3.0</version>
   <description>
     Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot.
     You can do simple tests using this package on rviz without real robots.
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_simulations</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues</url>
   <author email="[email protected]">Pyo</author>
   <author email="[email protected]">Darby Lim</author>
   <author>Ryan Shim</author>
+  <author email="[email protected]">Will Son</author>
   <depend>ament_cmake</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>

turtlebot3_gazebo/CHANGELOG.rst

@@ -2,18 +2,27 @@
 Changelog for package turtlebot3_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.2.6 (2202-05-26)
+2.3.0 (2025-02-17)
 ------------------
-* ROS2 Humble Hawksbill supported
+* Added multi-robot launch functionality
+* Updated robot mesh in Gazebo and RViz
+* Added launch file for TurtleBot3 Autorace 2020
+* Added plugins to the models of Autorace 2020
+* Contributors: Hyungyu Kim
+
+2.2.6 (2022-05-26)
+------------------
+* ROS 2 Humble Hawksbill supported
+* Contributors: Will Son
 
 2.2.5 (2021-08-25)
 ------------------
-* Release for ROS2 Rolling
+* Release for ROS 2 Rolling
 * Contributors: Will Son
 
 2.2.4 (2021-06-14)
 ------------------
-* Release for ROS2 Galactic
+* Release for ROS 2 Galactic
 * Separate world and robot models(#162)
 * Clean up unncessary files
 * Use turtlebot3_common mesh modeling
@@ -114,7 +123,7 @@ Changelog for package turtlebot3_gazebo
 
 0.2.4 (2018-03-14)
 ------------------
-* none
+* None
 
 0.2.3 (2018-03-14)
 ------------------
@@ -123,7 +132,7 @@ Changelog for package turtlebot3_gazebo
 
 0.2.2 (2018-03-14)
 ------------------
-* none
+* None
 
 0.2.1 (2018-03-14)
 ------------------

turtlebot3_gazebo/CMakeLists.txt

@@ -53,13 +53,19 @@ set(EXEC_NAME "turtlebot3_drive")
 add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp)
 ament_target_dependencies(${EXEC_NAME} ${dependencies})
 
-add_library(obstacle1 SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc)
+add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
+target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})
+
+add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
+target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})
+
+add_library(obstacle1 SHARED src/obstacle1.cpp)
 target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})
 
-add_library(obstacle2 SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc)
+add_library(obstacle2 SHARED src/obstacle2.cpp)
 target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})
 
-add_library(obstacles SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc)
+add_library(obstacles SHARED src/obstacles.cpp)
 target_link_libraries(obstacles ${GAZEBO_LIBRARIES})
 
 ################################################################################

turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp

@@ -0,0 +1,38 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class Obstacle1 : public ModelPlugin
+{
+public:
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacle1);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_

turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp

@@ -0,0 +1,39 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class Obstacle2 : public ModelPlugin
+{
+public:
+  Obstacle2() = default;
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacle2);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_