lds-02 support

Signed-off-by: Will Son <willson@robotis.com>
ROBOTIS-GIT · Feb 8, 2022 · 8237b79 · 8237b79
1 parent dd56993
commit 8237b79
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Showing 19 changed files with 104 additions and 14 deletions.
diff --git a/turtlebot3/CHANGELOG.rst b/turtlebot3/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package turtlebot3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.4 (2022-02-08)
+------------------
+* add LDS-02 support
+
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* fix ambiguous ParameterValue calls (#748, #736)
+* fix RViz2 Cartographer default config
+* Contributors: m2-farzan, Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * use static param types for Galactic

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>2.1.2</version>
+  <version>2.1.4</version>
   <description>
     ROS 2 packages for TurtleBot3
   </description>

diff --git a/turtlebot3_bringup/CHANGELOG.rst b/turtlebot3_bringup/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package turtlebot3_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.4 (2022-02-08)
+------------------
+* add LDS-02 support
+
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* fix ambiguous ParameterValue calls (#748, #736)
+* Contributors: m2-farzan, Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * rename nav2 params

diff --git a/turtlebot3_bringup/launch/robot.launch.py b/turtlebot3_bringup/launch/robot.launch.py
@@ -30,6 +30,8 @@
 
 def generate_launch_description():
     TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+    LDS_MODEL = os.environ['LDS_MODEL']
+    LDS_LAUNCH_FILE = '/hlds_laser.launch.py'
 
     usb_port = LaunchConfiguration('usb_port', default='/dev/ttyACM0')
 
@@ -40,9 +42,19 @@ def generate_launch_description():
             'param',
             TURTLEBOT3_MODEL + '.yaml'))
 
-    lidar_pkg_dir = LaunchConfiguration(
-        'lidar_pkg_dir',
-        default=os.path.join(get_package_share_directory('hls_lfcd_lds_driver'), 'launch'))
+    if LDS_MODEL == 'LDS-01':
+        lidar_pkg_dir = LaunchConfiguration(
+            'lidar_pkg_dir',
+            default=os.path.join(get_package_share_directory('hls_lfcd_lds_driver'), 'launch'))
+    elif LDS_MODEL == 'LDS-02':
+        lidar_pkg_dir = LaunchConfiguration(
+            'lidar_pkg_dir',
+            default=os.path.join(get_package_share_directory('ld08_driver'), 'launch'))
+        LDS_LAUNCH_FILE = '/ld08.launch.py'
+    else:
+        lidar_pkg_dir = LaunchConfiguration(
+            'lidar_pkg_dir',
+            default=os.path.join(get_package_share_directory('hls_lfcd_lds_driver'), 'launch'))
 
     use_sim_time = LaunchConfiguration('use_sim_time', default='false')
 
@@ -69,7 +81,7 @@ def generate_launch_description():
         ),
 
         IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([lidar_pkg_dir, '/hlds_laser.launch.py']),
+            PythonLaunchDescriptionSource([lidar_pkg_dir, LDS_LAUNCH_FILE]),
             launch_arguments={'port': '/dev/ttyUSB0', 'frame_id': 'base_scan'}.items(),
         ),
 

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>2.1.2</version>
+  <version>2.1.4</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 +2,16 @@
 Changelog for package turtlebot3_cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.4 (2022-02-08)
+------------------
+* none
+
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* fix RViz2 Cartographer default config
+* Contributors: Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * rename nav2 params

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>2.1.2</version>
+  <version>2.1.4</version>
   <description>
     ROS 2 launch scripts for cartographer
   </description>

diff --git a/turtlebot3_description/CHANGELOG.rst b/turtlebot3_description/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package turtlebot3_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.4 (2022-02-08)
+------------------
+* none
+
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* Contributors: Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * 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>2.1.2</version>
+  <version>2.1.4</version>
   <description>
     3D models of the TurtleBot3 for simulation and visualization
   </description>

diff --git a/turtlebot3_example/CHANGELOG.rst b/turtlebot3_example/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package turtlebot3_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.4 (2022-02-08)
+------------------
+* none
+
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* Contributors: Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * 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>2.1.2</version>
+  <version>2.1.4</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='2.1.2',
+    version='2.1.4',
     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 +2,15 @@
 Changelog for package turtlebot3_navigation2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.4 (2022-02-08)
+------------------
+* none
+
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* Contributors: Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * rename nav2 params

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>2.1.2</version>
+  <version>2.1.4</version>
   <description>
     ROS 2 launch scripts for navigation2
   </description> 

diff --git a/turtlebot3_node/CHANGELOG.rst b/turtlebot3_node/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package turtlebot3_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.4 (2022-02-08)
+------------------
+* none
+
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* fix ambiguous ParameterValue calls (#748, #736)
+* fix RViz2 Cartographer default config
+* Contributors: m2-farzan, Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * use static param types for Galactic

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>2.1.2</version>
+  <version>2.1.4</version>
   <description>
     TurtleBot3 driver node that include diff drive controller, odometry and tf node
   </description> 

diff --git a/turtlebot3_teleop/CHANGELOG.rst b/turtlebot3_teleop/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package turtlebot3_teleop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.4 (2022-02-08)
+------------------
+* none
+
+2.1.3 (2021-09-02)
+------------------
+* ROS 2 Rolling Ridley supported
+* Contributors: Will Son
+
 2.1.2 (2021-04-07)
 ------------------
 * 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>2.1.2</version>
+  <version>2.1.4</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='2.1.2',
+    version='2.1.4',
     packages=find_packages(exclude=[]),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),