Merge pull request #264 from ROBOTIS-GIT/develop

updated the CHANGELOG and version to release binary packages

.travis.yml

@@ -18,13 +18,17 @@ notifications:
       - [email protected]
 env:
   matrix:
-    - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian
-#   - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=jessie
+    - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=xenial
+    - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=bionic
+    - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
+matrix:
+  allow_failures:
+    - env: ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=bionic
+    - env: ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
 branches:
   only:
     - master
     - develop
-    - kinetic-devel
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script:

ISSUE_TEMPLATE.md

@@ -1,4 +1,4 @@
-ISSUE TEMPLATE ver. 0.1.0
+ISSUE TEMPLATE ver. 0.2.0
 
 1. Which TurtleBot3 you have?
 
@@ -25,55 +25,19 @@ ISSUE TEMPLATE ver. 0.1.0
     - [ ] Linux Mint 18.x
     - [ ] etc (PLEASE, WRITE DOWN YOUR OS)
 
-3. Write down software version and firmware version
+5. Write down software version and firmware version
 
     - Software version: [x.x.x]
     - Firmware version: [x.x.x]
 
-4. Write down the commands you used in order
+6. Write down the commands you used in order
 
-    [Remote PC] roscore
-    [SBC] roslaunch turtlebot3_bringup turtlebot3_robot.launch
-    [Remote PC] roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
+    - HERE
 
-5. Copy and Paste your error message on terminal
-
-    ```
-    ... logging to /home/darby/.ros/log/0681c5f0-5343-11e8-b6e2-ac2b6e6d08ee/roslaunch-kingod-25077.log
-    Checking log directory for disk usage. This may take awhile.
-    Press Ctrl-C to interrupt
-    Done checking log file disk usage. Usage is <1GB.
-
-    started roslaunch server http://192.168.10.3:46024/
-
-    SUMMARY
-    ========
+7. Copy and Paste your error message on terminal
 
-    PARAMETERS
-    * /rosdistro: kinetic
-    * /rosversion: 1.12.13
-    * /turtlebot3_core/baud: 115200
-    * /turtlebot3_core/port: /dev/ttyACM0
-
-    NODES
-      /
-        turtlebot3_core (rosserial_python/serial_node.py)
-
-    auto-starting new master
-    process[master]: started with pid [25087]
-    ROS_MASTER_URI=http://192.168.10.3:11311
-
-    setting /run_id to 0681c5f0-5343-11e8-b6e2-ac2b6e6d08ee
-    process[rosout-1]: started with pid [25100]
-    started core service [/rosout]
-    process[turtlebot3_core-2]: started with pid [25108]
-    [INFO] [1525840798.011640]: ROS Serial Python Node
-    [INFO] [1525840798.021582]: Connecting to /dev/ttyACM0 at 115200 baud
-    [ERROR] [1525840798.024494]: Error opening serial: [Errno 2] could not open port /dev/ttyACM0: [Errno 2] No such file or directory: '/dev/ttyACM0'
-    [turtlebot3_core-2] process has finished cleanly
-    log file: /home/darby/.ros/log/0681c5f0-5343-11e8-b6e2-ac2b6e6d08ee/turtlebot3_core-2*.log
-    ```
+    - HERE
 
-6. Please, describe detailedly what difficulty you are in 
+8. Please, describe detailedly what difficulty you are in 
 
     - HERE

README.md

@@ -4,7 +4,7 @@
 ## ROS Packages for TurtleBot3
 |Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
 |:---:|:---:|:---:|
-|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/turtlebot3.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|-|
+|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/turtlebot3.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/turtlebot3.svg?branch=melodic-devel)](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|
 
 ## ROBOTIS e-Manual for TurtleBot3
 - [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)

turtlebot3/CHANGELOG.rst

@@ -2,6 +2,23 @@
 Changelog for package turtlebot3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2018-07-23)
+------------------
+* added bringup to load multiple robot simply #251
+* added arguments for multiple robot
+* added odometrySource
+* modified camera topic name
+* modified base_scan update_rate and add param on diff_drive #258
+* modified the laser scanner update_rate in the gazebo xacro files #258
+* modified origin of collision in Waffle URDF
+* updated turtlebot3_diagnostic node
+* updated firmware version from 1.2.0 to 1.2.2
+* updated get firmware version
+* updated version check function
+* updated warn msg for version check
+* deleted unused get_scan function #227
+* Contributors: Darby Lim, Gilbert, Eduardo Avelar, shtseng, Pyo
+
 1.0.0 (2018-05-29)
 ------------------
 * added cartographer

turtlebot3/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>
     ROS packages for the Turtlebot3 (meta package)
   </description>

turtlebot3_bringup/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package turtlebot3_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2018-07-23)
+------------------
+* added bringup to load multiple robot simply #251
+* added argument about namespace
+* updated turtlebot3_diagnostic node
+* updated firmware version from 1.2.0 to 1.2.2
+* updated get firmware version
+* updated version check function
+* updated warn msg for version check
+* Contributors: Darby Lim, Gilbert, Pyo
+
 1.0.0 (2018-05-29)
 ------------------
 * added variable to check version only once

turtlebot3_bringup/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_bringup</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>
     roslaunch scripts for starting the TurtleBot3
   </description>

turtlebot3_bringup/src/turtlebot3_diagnostics.cpp

@@ -24,20 +24,54 @@
 #include <diagnostic_msgs/DiagnosticArray.h>
 #include <turtlebot3_msgs/SensorState.h>
 #include <turtlebot3_msgs/VersionInfo.h>
+#include <string>
 
-#define SOFTWARE_VERSION "1.0.0"
-#define FIRMWARE_VERSION "1.2.1"
-#define HARDWARE_VERSION "1.0.0"
+#define SOFTWARE_VERSION "1.1.0"
+#define HARDWARE_VERSION "2017.05.30"
+#define FIRMWARE_VERSION_MAJOR_NUMBER 1
+#define FIRMWARE_VERSION_MINOR_NUMBER 2
 
+ros::Publisher tb3_version_info_pub;
 ros::Publisher tb3_diagnostics_pub;
-diagnostic_msgs::DiagnosticArray tb3_diagnostics;
 
 diagnostic_msgs::DiagnosticStatus imu_state;
 diagnostic_msgs::DiagnosticStatus motor_state;
 diagnostic_msgs::DiagnosticStatus LDS_state;
 diagnostic_msgs::DiagnosticStatus battery_state;
 diagnostic_msgs::DiagnosticStatus button_state;
 
+typedef struct
+{
+  int major_number;
+  int minor_number;
+  int patch_number;
+}VERSION;
+
+void split(std::string data, std::string separator, std::string* temp)
+{
+	int cnt = 0;
+  std::string copy = data;
+
+	while(true)
+	{
+		std::size_t index = copy.find(separator);
+
+    if (index != std::string::npos)
+    {
+      temp[cnt] = copy.substr(0, index);
+
+      copy = copy.substr(index+1, copy.length());
+    }
+    else
+    {
+      temp[cnt] = copy.substr(0, copy.length());
+      break;
+    }
+
+		++cnt;
+	}
+}
+
 void setDiagnosisMsg(diagnostic_msgs::DiagnosticStatus *diag, uint8_t level, std::string name, std::string message, std::string hardware_id)
 {
   diag->level = level;
@@ -101,27 +135,50 @@ void sensorStateMsgCallback(const turtlebot3_msgs::SensorState::ConstPtr &msg)
     setMotorDiagnosis(diagnostic_msgs::DiagnosticStatus::WARN, "Torque OFF");
 }
 
-void versionMsgCallback(const turtlebot3_msgs::VersionInfo::ConstPtr &msg)
+void firmwareVersionMsgCallback(const turtlebot3_msgs::VersionInfo::ConstPtr &msg)
 {
   static bool check_version = false;
+  std::string get_version[3];
 
-  if (check_version == false)
-  {
-    if (std::string(msg->software) != std::string(SOFTWARE_VERSION))
-      ROS_WARN("Check turtlebot3 repository and Update your software!!");
+  split(msg->firmware, ".", get_version);
 
-    if (std::string(msg->hardware) != std::string(HARDWARE_VERSION))
-      ROS_WARN("Check turtlebot3 wiki page and Update your hardware!!");
+  VERSION firmware_version; 
+  firmware_version.major_number = std::stoi(get_version[0]);
+  firmware_version.minor_number = std::stoi(get_version[1]);
+  firmware_version.patch_number = std::stoi(get_version[2]);
 
-    if (std::string(msg->firmware) != std::string(FIRMWARE_VERSION))
-      ROS_WARN("Check OpenCR update and change your firmware!!");
+  if (check_version == false)
+  {
+    if (firmware_version.major_number == FIRMWARE_VERSION_MAJOR_NUMBER)
+    {
+      if (firmware_version.minor_number > FIRMWARE_VERSION_MINOR_NUMBER)
+      {
+        ROS_WARN("This firmware(v%s) isn't compatible with this software (v%s)", msg->firmware.data(), SOFTWARE_VERSION);
+        ROS_WARN("You can find how to update its in `FAQ` section(turtlebot3.robotis.com)");
+      }
+    }
+    else
+    {
+      ROS_WARN("This firmware(v%s) isn't compatible with this software (v%s)", msg->firmware.data(), SOFTWARE_VERSION);
+      ROS_WARN("You can find how to update its in `FAQ` section(turtlebot3.robotis.com)");
+    }
 
     check_version = true;
   }
+
+  turtlebot3_msgs::VersionInfo version;
+
+  version.software = SOFTWARE_VERSION;
+  version.hardware = HARDWARE_VERSION;
+  version.firmware = msg->firmware;
+
+  tb3_version_info_pub.publish(version);
 }
 
 void msgPub()
 {
+  diagnostic_msgs::DiagnosticArray tb3_diagnostics;
+
   tb3_diagnostics.header.stamp = ros::Time::now();
 
   tb3_diagnostics.status.clear();
@@ -140,11 +197,12 @@ int main(int argc, char **argv)
   ros::NodeHandle nh;
 
   tb3_diagnostics_pub  = nh.advertise<diagnostic_msgs::DiagnosticArray>("diagnostics", 10);
+  tb3_version_info_pub = nh.advertise<turtlebot3_msgs::VersionInfo>("version_info", 10);
 
   ros::Subscriber imu         = nh.subscribe("imu", 10, imuMsgCallback);
   ros::Subscriber lds         = nh.subscribe("scan", 10, LDSMsgCallback);
   ros::Subscriber tb3_sensor  = nh.subscribe("sensor_state", 10, sensorStateMsgCallback);
-  ros::Subscriber version     = nh.subscribe("version_info", 10, versionMsgCallback);
+  ros::Subscriber version     = nh.subscribe("firmware_version", 10, firmwareVersionMsgCallback);
 
   ros::Rate loop_rate(1);
 

turtlebot3_description/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package turtlebot3_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2018-07-23)
+------------------
+* added bringup to load multiple robot simply #251
+* added odometrySource
+* modified camera topic name
+* modified base_scan update_rate and add param on diff_drive #258
+* modified the laser scanner update_rate in the gazebo xacro files #258
+* modified origin of collision in Waffle URDF
+* Contributors: Darby Lim, Gilbert, shtseng, Pyo
+
 1.0.0 (2018-05-29)
 ------------------
 * added frameName for imu on gazebo (however, there is no effect.)

turtlebot3_description/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_description</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>
     3D models of the TurtleBot3 for simulation and visualization
   </description>

turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro

@@ -52,6 +52,8 @@
       <commandTopic>cmd_vel</commandTopic>
       <odometryTopic>odom</odometryTopic>
       <odometryFrame>odom</odometryFrame>
+      <odometrySource>world</odometrySource>
+      <publishOdomTF>true</publishOdomTF>
       <robotBaseFrame>base_footprint</robotBaseFrame>
       <publishWheelTF>false</publishWheelTF>
       <publishTf>true</publishTf>
@@ -102,6 +104,7 @@
     <sensor type="ray" name="lds_lfcd_sensor">
       <pose>0 0 0 0 0 0</pose>
       <visualize>$(arg laser_visual)</visualize>
+      <update_rate>5</update_rate>
       <ray>
         <scan>
           <horizontal>
@@ -125,7 +128,6 @@
       <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
         <topicName>scan</topicName>
         <frameName>base_scan</frameName>
-        <update_rate>1800</update_rate>
       </plugin>
     </sensor>
   </gazebo>

turtlebot3_description/urdf/turtlebot3_burger_for_autorace.gazebo.xacro

@@ -53,6 +53,8 @@
       <commandTopic>cmd_vel</commandTopic>
       <odometryTopic>odom</odometryTopic>
       <odometryFrame>odom</odometryFrame>
+      <odometrySource>world</odometrySource>
+      <publishOdomTF>true</publishOdomTF>
       <robotBaseFrame>base_footprint</robotBaseFrame>
       <publishWheelTF>false</publishWheelTF>
       <publishTf>true</publishTf>
@@ -102,6 +104,7 @@
     <sensor type="ray" name="lds_lfcd_sensor">
       <pose>0 0 0 0 0 0</pose>
       <visualize>$(arg laser_visual)</visualize>
+      <update_rate>5</update_rate>
       <ray>
         <scan>
           <horizontal>
@@ -125,7 +128,6 @@
       <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
         <topicName>scan</topicName>
         <frameName>base_scan</frameName>
-        <update_rate>1800</update_rate>
       </plugin>
     </sensor>
   </gazebo>

turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro

@@ -63,6 +63,8 @@
       <commandTopic>cmd_vel</commandTopic>
       <odometryTopic>odom</odometryTopic>
       <odometryFrame>odom</odometryFrame>
+      <odometrySource>world</odometrySource>
+      <publishOdomTF>true</publishOdomTF>
       <robotBaseFrame>base_footprint</robotBaseFrame>
       <publishWheelTF>false</publishWheelTF>
       <publishTf>true</publishTf>
@@ -113,6 +115,7 @@
     <sensor type="ray" name="lds_lfcd_sensor">
       <pose>0 0 0 0 0 0</pose>
       <visualize>$(arg laser_visual)</visualize>
+      <update_rate>5</update_rate>
       <ray>
         <scan>
           <horizontal>
@@ -136,7 +139,6 @@
       <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
         <topicName>scan</topicName>
         <frameName>base_scan</frameName>
-        <update_rate>1800</update_rate>
       </plugin>
     </sensor>
   </gazebo>