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Merge pull request #239 from ROBOTIS-GIT/feature-add-manipulation-sim
Feature add manipulation sim
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‎turtlebot3_fake_node/CHANGELOG.rst‎

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Changelog for package turtlebot3_fake
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.3.4 (2025-05-28)
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------------------
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* None
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2.3.0 (2025-02-17)
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------------------
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* None

‎turtlebot3_fake_node/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>turtlebot3_fake_node</name>
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<version>2.3.0</version>
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<version>2.3.4</version>
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<description>
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Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot.
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You can do simple tests using this package on rviz without real robots.

‎turtlebot3_gazebo/CHANGELOG.rst‎

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Changelog for package turtlebot3_gazebo
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.3.4 (2025-05-28)
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------------------
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* None
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2.3.0 (2025-02-17)
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------------------
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* Added multi-robot launch functionality

‎turtlebot3_gazebo/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>turtlebot3_gazebo</name>
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<version>2.3.0</version>
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<version>2.3.4</version>
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<description>
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Gazebo simulation package for the TurtleBot3
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</description>

‎turtlebot3_manipulation_gazebo/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package turtlebot3_manipulation_gazebo
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.3.4 (2025-05-28)
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------------------
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* Moved the TurtleBot3 Manipulation Gazebo simulation from the turtlebot3_manipulation_bringup package
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* Contributors: ChanHyeong Lee

‎turtlebot3_manipulation_gazebo/CMakeLists.txt‎

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################################################################################
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# Set minimum required version of cmake, project name and compile options
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################################################################################
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cmake_minimum_required(VERSION 3.5)
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project(turtlebot3_manipulation_gazebo)
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################################################################################
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# Find and load build settings from external packages
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################################################################################
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find_package(ament_cmake REQUIRED)
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################################################################################
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# Install
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################################################################################
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install(
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DIRECTORY config gazebo launch ros2_control rviz urdf worlds models
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DESTINATION share/${PROJECT_NAME}
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)
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################################################################################
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# Macro for ament package
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################################################################################
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ament_package()

‎turtlebot3_manipulation_gazebo/config/gazebo_controller_manager.yaml‎

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controller_manager:
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ros__parameters:
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use_sim_time: True
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update_rate: 1000 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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imu_broadcaster:
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type: imu_sensor_broadcaster/IMUSensorBroadcaster
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arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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gripper_controller:
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type: position_controllers/GripperActionController
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imu_broadcaster:
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ros__parameters:
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use_sim_time: True
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frame_id: imu_link
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sensor_name: imu
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arm_controller:
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ros__parameters:
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use_sim_time: True
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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interface_name: position
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 200.0 # Defaults to 50
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action_monitor_rate: 20.0 # Defaults to 20
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allow_partial_joints_goal: false # Defaults to false
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open_loop_control: true
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allow_integration_in_goal_trajectories: true
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constraints:
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stopped_velocity_tolerance: 0.01 # Defaults to 0.01
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goal_time: 0.0 # Defaults to 0.0 (start immediately)
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gripper_controller:
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ros__parameters:
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use_sim_time: True
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joint: gripper_left_joint

‎turtlebot3_manipulation_gazebo/config/hardware_controller_manager.yaml‎

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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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diff_drive_controller:
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type: diff_drive_controller/DiffDriveController
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imu_broadcaster:
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type: imu_sensor_broadcaster/IMUSensorBroadcaster
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arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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gripper_controller:
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type: position_controllers/GripperActionController
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diff_drive_controller:
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ros__parameters:
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left_wheel_names: ["wheel_left_joint"]
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right_wheel_names: ["wheel_right_joint"]
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wheel_separation: 0.287
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#wheels_per_side: 1 # actually 2, but both are controlled by 1 signal
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wheel_radius: 0.033
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wheel_separation_multiplier: 1.0
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left_wheel_radius_multiplier: 1.0
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right_wheel_radius_multiplier: 1.0
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publish_rate: 50.0
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odom_frame_id: odom
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base_frame_id: base_footprint
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pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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open_loop: true
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enable_odom_tf: true
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cmd_vel_timeout: 0.5
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#publish_limited_velocity: true
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use_stamped_vel: false
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#velocity_rolling_window_size: 10
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# Preserve turning radius when limiting speed/acceleration/jerk
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preserve_turning_radius: true
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# Publish limited velocity
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publish_cmd: true
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# Publish wheel data
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publish_wheel_data: true
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# Velocity and acceleration limits
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# Whenever a min_* is unspecified, default to -max_*
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linear.x.has_velocity_limits: true
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linear.x.has_acceleration_limits: true
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linear.x.has_jerk_limits: false
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linear.x.max_velocity: 0.26
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linear.x.min_velocity: -0.26
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linear.x.max_acceleration: 1.0
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linear.x.max_jerk: 0.0
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linear.x.min_jerk: 0.0
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angular.z.has_velocity_limits: true
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angular.z.has_acceleration_limits: true
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angular.z.has_jerk_limits: false
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angular.z.max_velocity: 1.82
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angular.z.min_velocity: -1.82
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angular.z.max_acceleration: 4.0
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angular.z.min_acceleration: -4.0
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angular.z.max_jerk: 0.0
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angular.z.min_jerk: 0.0
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imu_broadcaster:
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ros__parameters:
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frame_id: imu_link
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sensor_name: imu
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arm_controller:
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ros__parameters:
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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interface_name: position
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 200.0 # Defaults to 50
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action_monitor_rate: 20.0 # Defaults to 20
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allow_partial_joints_goal: false # Defaults to false
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open_loop_control: true
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allow_integration_in_goal_trajectories: true
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constraints:
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stopped_velocity_tolerance: 0.01 # Defaults to 0.01
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goal_time: 0.0 # Defaults to 0.0 (start immediately)
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gripper_controller:
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ros__parameters:
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joint: gripper_left_joint

‎turtlebot3_manipulation_gazebo/gazebo/materials.xacro‎

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<?xml version="1.0"?>
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<!--
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Copied from open_manipulator example -
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https://github.com/ROBOTIS-GIT/open_manipulator/blob/foxy-devel/open_manipulator_x_description/urdf/materials.xacro
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-->
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<robot>
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="brown">
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<color rgba="0.8706 0.8118 0.7647 1.0"/>
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</material>
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<material name="dark">
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<color rgba="0.3 0.3 0.3 1.0"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.5 0.5 0.5 1.0"/>
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</material>
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<material name="light_black">
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<color rgba="0.4 0.4 0.4 1.0"/>
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</material>
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<material name="orange">
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<color rgba="1.0 0.4235 0.0392 1.0"/>
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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</robot>

‎turtlebot3_manipulation_gazebo/gazebo/open_manipulator_x.gazebo.xacro‎

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<?xml version="1.0"?>
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<!--
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Copied and modified from turtlebot3 example:
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https://github.com/ROBOTIS-GIT/turtlebot3/blob/kinetic-devel/turtlebot3_description/urdf/turtlebot3_waffle_pi_for_open_manipulator.gazebo.xacro
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-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="open_manipulator_x_gazebo" params="prefix">
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<xacro:macro name="SimpleTransmission" params="trans joint actuator">
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<transmission name="${trans}">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${joint}">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${actuator}">
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<mechanicalReduction>1</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</actuator>
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</transmission>
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</xacro:macro>
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<xacro:macro name="Link" params="reference">
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<gazebo reference="${reference}">
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<kp>1000000.0</kp>
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<kd>100.0</kd>
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<mu1>30.0</mu1>
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<mu2>30.0</mu2>
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<maxVel>1.0</maxVel>
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<minDepth>0.001</minDepth>
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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</xacro:macro>
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<xacro:Link reference="${prefix}link1"/>
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<xacro:Link reference="${prefix}link2"/>
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<xacro:Link reference="${prefix}link3"/>
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<xacro:Link reference="${prefix}link4"/>
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<xacro:Link reference="${prefix}link5"/>
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<xacro:Link reference="${prefix}gripper_left_link"/>
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<xacro:Link reference="${prefix}gripper_right_link"/>
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<gazebo reference="${prefix}end_effector_link">
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<material>Gazebo/Red</material>
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</gazebo>
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<xacro:SimpleTransmission trans="${prefix}trans1" joint="${prefix}joint1" actuator="${prefix}actuator1" />
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<xacro:SimpleTransmission trans="${prefix}trans2" joint="${prefix}joint2" actuator="${prefix}actuator2" />
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<xacro:SimpleTransmission trans="${prefix}trans3" joint="${prefix}joint3" actuator="${prefix}actuator3" />
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<xacro:SimpleTransmission trans="${prefix}trans4" joint="${prefix}joint4" actuator="${prefix}actuator4" />
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<xacro:SimpleTransmission trans="${prefix}trans5" joint="${prefix}gripper_left_joint" actuator="${prefix}actuator5" />
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<xacro:SimpleTransmission trans="${prefix}trans6" joint="${prefix}gripper_right_joint" actuator="${prefix}actuator6" />
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</xacro:macro>
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</robot>

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