├── turtlebot3_gazebo ├── models │ ├── turtlebot3_house │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── wood.jpg │ │ │ │ └── bricks.png │ │ └── model.config │ ├── turtlebot3_dqn_world │ │ ├── goal_box │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── model.config │ │ ├── obstacle1 │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── obstacle2 │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── obstacles │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── inner_walls │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── obstacle_plugin │ │ │ ├── ObstacleAnimator.hh │ │ │ ├── obstacles.cc │ │ │ ├── obstacle1.cc │ │ │ └── obstacle2.cc │ │ └── model.sdf │ ├── turtlebot3_common │ │ ├── model.config │ │ └── meshes │ │ │ └── waffle_base.dae │ ├── turtlebot3_burger │ │ └── model.config │ ├── turtlebot3_waffle │ │ └── model.config │ ├── turtlebot3_world │ │ ├── model.config │ │ └── meshes │ │ │ ├── hexagon.dae │ │ │ └── wall.dae │ └── turtlebot3_waffle_pi │ │ └── model.config ├── urdf │ ├── common_properties.urdf │ ├── turtlebot3_burger.urdf │ ├── turtlebot3_waffle_pi.urdf │ └── turtlebot3_waffle.urdf ├── package.xml ├── worlds │ ├── turtlebot3_dqn_stage1.world │ ├── turtlebot3_dqn_stage2.world │ ├── turtlebot3_dqn_stage3.world │ ├── empty_world.world │ ├── turtlebot3_house.world │ ├── turtlebot3_dqn_stage4.world │ └── turtlebot3_world.world ├── params │ └── turtlebot3_waffle_bridge.yaml ├── launch │ ├── robot_state_publisher.launch.py │ ├── turtlebot3_dqn_stage1.launch.py │ ├── turtlebot3_dqn_stage2.launch.py │ ├── turtlebot3_dqn_stage3.launch.py │ ├── turtlebot3_dqn_stage4.launch.py │ ├── turtlebot3_house.launch.py │ ├── turtlebot3_world.launch.py │ ├── spawn_turtlebot3.launch.py │ └── empty_world.launch.py ├── include │ └── turtlebot3_gazebo │ │ └── turtlebot3_drive.hpp ├── CMakeLists.txt ├── CHANGELOG.rst ├── src │ └── turtlebot3_drive.cpp └── rviz │ └── tb3_gazebo.rviz ├── turtlebot3_simulations ├── CMakeLists.txt ├── package.xml └── CHANGELOG.rst ├── turtlebot3_fake_node ├── param │ ├── burger.yaml │ ├── waffle.yaml │ └── waffle_pi.yaml ├── launch │ ├── rviz2.launch.py │ └── turtlebot3_fake_node.launch.py ├── package.xml ├── CMakeLists.txt ├── include │ └── turtlebot3_fake_node │ │ └── turtlebot3_fake_node.hpp ├── CHANGELOG.rst └── src │ └── turtlebot3_fake_node.cpp ├── turtlebot3_simulations_ci.repos ├── CONTRIBUTING.md ├── .github └── workflows │ └── ros-ci.yml ├── README.md └── LICENSE /turtlebot3_gazebo/models/turtlebot3_house/materials/textures/wood.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/azeey/turtlebot3_simulations/HEAD/turtlebot3_gazebo/models/turtlebot3_house/materials/textures/wood.jpg -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_house/materials/textures/bricks.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/azeey/turtlebot3_simulations/HEAD/turtlebot3_gazebo/models/turtlebot3_house/materials/textures/bricks.png -------------------------------------------------------------------------------- /turtlebot3_simulations/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(turtlebot3_simulations) 3 | 4 | if(NOT CMAKE_CXX_STANDARD) 5 | set(CMAKE_CXX_STANDARD 17) 6 | endif() 7 | 8 | find_package(ament_cmake REQUIRED) 9 | ament_package() 10 | -------------------------------------------------------------------------------- /turtlebot3_fake_node/param/burger.yaml: -------------------------------------------------------------------------------- 1 | turtlebot3_fake_node: 2 | ros__parameters: 3 | wheels: 4 | separation: 0.160 5 | radius: 0.033 6 | 7 | joint_states_frame: "base_footprint" 8 | odom_frame: "odom" 9 | base_frame: "base_footprint" 10 | -------------------------------------------------------------------------------- /turtlebot3_fake_node/param/waffle.yaml: -------------------------------------------------------------------------------- 1 | turtlebot3_fake_node: 2 | ros__parameters: 3 | wheels: 4 | separation: 0.287 5 | radius: 0.033 6 | 7 | joint_states_frame: "base_footprint" 8 | odom_frame: "odom" 9 | base_frame: "base_footprint" 10 | -------------------------------------------------------------------------------- /turtlebot3_fake_node/param/waffle_pi.yaml: -------------------------------------------------------------------------------- 1 | turtlebot3_fake_node: 2 | ros__parameters: 3 | wheels: 4 | separation: 0.287 5 | radius: 0.033 6 | 7 | joint_states_frame: "base_footprint" 8 | odom_frame: "odom" 9 | base_frame: "base_footprint" 10 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | goal_box 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_common/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | TurtleBot3 Common Mesh 5 | 2.0 6 | 7 | 8 | Will Son 9 | willson@robotis.com 10 | 11 | 12 | 13 | TurtleBot3 Common Mesh 14 | 15 | 16 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_house/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Turtlebot3 House 5 | 1.0 6 | model.sdf 7 | 8 | 9 | Taehun Lim(Darby) 10 | thlim@robotis.com 11 | 12 | 13 | 14 | Turtlebot3 House 15 | 16 | 17 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot3_dqn 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Ryan Shim 9 | jhshim@robotis.com 10 | 11 | 12 | 13 | TurtleBot3 DQN World 14 | 15 | 16 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | obstacle1 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Ryan Shim 9 | jhshim@robotis.com 10 | 11 | 12 | 13 | TurtleBot3 DQN World 14 | 15 | 16 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | obstacle2 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Ryan Shim 9 | jhshim@robotis.com 10 | 11 | 12 | 13 | TurtleBot3 DQN World 14 | 15 | 16 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | obstacles 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Ryan Shim 9 | jhshim@robotis.com 10 | 11 | 12 | 13 | TurtleBot3 DQN World 14 | 15 | 16 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | inner_walls 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Ryan Shim 9 | jhshim@robotis.com 10 | 11 | 12 | 13 | TurtleBot3 DQN World Inner Walls 14 | 15 | 16 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_burger/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | TurtleBot3(Burger) 5 | 2.0 6 | model-1_4.sdf 7 | model.sdf 8 | 9 | 10 | Taehun Lim(Darby) 11 | thlim@robotis.com 12 | 13 | 14 | 15 | TurtleBot3 Burger 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_waffle/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | TurtleBot3(Waffle) 5 | 2.0 6 | model-1_4.sdf 7 | model.sdf 8 | 9 | 10 | Taehun Lim(Darby) 11 | thlim@robotis.com 12 | 13 | 14 | 15 | TurtleBot3 Waffle 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_world/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | TurtleBot3 World 5 | 1.0 6 | model-1_4.sdf 7 | model.sdf 8 | 9 | 10 | Taehun Lim(Darby) 11 | thlim@robotis.com 12 | 13 | 14 | 15 | World of TurtleBot3 with ROS symbol 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | TurtleBot3(Waffle Pi) 5 | 2.0 6 | model-1_4.sdf 7 | model.sdf 8 | 9 | 10 | Taehun Lim(Darby) 11 | thlim@robotis.com 12 | 13 | 14 | 15 | TurtleBot3 Waffle Pi 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot3_simulations_ci.repos: -------------------------------------------------------------------------------- 1 | repositories: 2 | turtlebot3/turtlebot3: 3 | type: git 4 | url: https://github.com/ROBOTIS-GIT/turtlebot3.git 5 | version: ros2-devel 6 | turtlebot3/turtlebot3_msgs: 7 | type: git 8 | url: https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git 9 | version: ros2-devel 10 | utils/DynamixelSDK: 11 | type: git 12 | url: https://github.com/ROBOTIS-GIT/DynamixelSDK.git 13 | version: ros2-devel 14 | utils/hls_lfcd_lds_driver: 15 | type: git 16 | url: https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git 17 | version: ros2-devel 18 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 0.12 9 | 0.25 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 0.12 18 | 0.25 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 0.12 9 | 0.25 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 0.12 18 | 0.25 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0 0 0 0 -0 -1.5708 5 | 6 | 7 | 0 0 0.0005 0 -0 0 8 | 9 | 10 | 0.3 11 | 0.001 12 | 13 | 14 | 15 | 19 | 1 0 0 1 20 | 21 | 22 | 0 0 0 0 -0 0 23 | 24 | 1 25 | 26 | 27 | -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | Any contribution that you make to this repository will 2 | be under the Apache 2 License, as dictated by that 3 | [license](http://www.apache.org/licenses/LICENSE-2.0.html): 4 | 5 | ~~~ 6 | 5. Submission of Contributions. Unless You explicitly state otherwise, 7 | any Contribution intentionally submitted for inclusion in the Work 8 | by You to the Licensor shall be under the terms and conditions of 9 | this License, without any additional terms or conditions. 10 | Notwithstanding the above, nothing herein shall supersede or modify 11 | the terms of any separate license agreement you may have executed 12 | with Licensor regarding such Contributions. 13 | ~~~ 14 | 15 | Contributors must sign-off each commit by adding a `Signed-off-by: ...` 16 | line to commit messages to certify that they have the right to submit 17 | the code they are contributing to the project according to the 18 | [Developer Certificate of Origin (DCO)](https://developercertificate.org/). 19 | -------------------------------------------------------------------------------- /turtlebot3_simulations/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | turtlebot3_simulations 5 | 2.2.6 6 | 7 | ROS 2 packages for TurtleBot3 simulations 8 | 9 | Will Son 10 | Apache 2.0 11 | http://turtlebot3.robotis.com 12 | https://github.com/ROBOTIS-GIT/turtlebot3_simulations 13 | https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues 14 | Darby Lim 15 | Pyo 16 | Ryan Shim 17 | ament_cmake 18 | turtlebot3_fake_node 19 | turtlebot3_gazebo 20 | 21 | ament_cmake 22 | 23 | 24 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/urdf/common_properties.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | turtlebot3_gazebo 5 | 2.2.6 6 | 7 | Gazebo simulation package for the TurtleBot3 8 | 9 | Will Son 10 | Apache 2.0 11 | http://turtlebot3.robotis.com 12 | https://github.com/ROBOTIS-GIT/turtlebot3_simulations 13 | https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues 14 | Darby Lim 15 | Pyo 16 | Ryan Shim 17 | ament_cmake 18 | geometry_msgs 19 | nav_msgs 20 | rclcpp 21 | ros_gz_bridge 22 | ros_gz_image 23 | ros_gz_sim 24 | sensor_msgs 25 | tf2 26 | 27 | ament_cmake 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /turtlebot3_fake_node/launch/rviz2.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | # Author: Ryan Shim 16 | 17 | import os 18 | 19 | from ament_index_python.packages import get_package_share_directory 20 | from launch import LaunchDescription 21 | from launch_ros.actions import Node 22 | 23 | 24 | def generate_launch_description(): 25 | rviz_config_dir = os.path.join( 26 | get_package_share_directory('turtlebot3_gazebo'), 27 | 'rviz', 28 | 'tb3_gazebo.rviz' 29 | ) 30 | 31 | return LaunchDescription([ 32 | Node( 33 | package='rviz2', 34 | executable='rviz2', 35 | name='rviz2', 36 | arguments=['-d', rviz_config_dir], 37 | output='screen'), 38 | ]) 39 | -------------------------------------------------------------------------------- /turtlebot3_fake_node/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | turtlebot3_fake_node 5 | 2.2.6 6 | 7 | Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot. 8 | You can do simple tests using this package on rviz without real robots. 9 | 10 | Will Son 11 | Apache 2.0 12 | http://turtlebot3.robotis.com 13 | https://github.com/ROBOTIS-GIT/turtlebot3_simulations 14 | https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues 15 | Pyo 16 | Darby Lim 17 | Ryan Shim 18 | ament_cmake 19 | geometry_msgs 20 | nav_msgs 21 | rclcpp 22 | sensor_msgs 23 | tf2 24 | tf2_msgs 25 | turtlebot3_msgs 26 | robot_state_publisher 27 | 28 | ament_cmake 29 | 30 | 31 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | model://ground_plane 7 | 8 | 9 | 10 | model://sun 11 | 12 | 13 | 14 | false 15 | 16 | 17 | 18 | 19 | 0.319654 -0.235002 9.29441 0 1.5138 0.009599 20 | orbit 21 | perspective 22 | 23 | 24 | 25 | 26 | 1000.0 27 | 0.001 28 | 1 29 | 30 | 31 | quick 32 | 150 33 | 0 34 | 1.400000 35 | 1 36 | 37 | 38 | 0.00001 39 | 0.2 40 | 2000.000000 41 | 0.01000 42 | 43 | 44 | 45 | 46 | 47 | 1 48 | 49 | model://turtlebot3_dqn_world 50 | 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/params/turtlebot3_waffle_bridge.yaml: -------------------------------------------------------------------------------- 1 | - ros_topic_name: "clock" 2 | gz_topic_name: "clock" 3 | ros_type_name: "rosgraph_msgs/msg/Clock" 4 | gz_type_name: "gz.msgs.Clock" 5 | direction: GZ_TO_ROS 6 | 7 | # gz topic published by JointState plugin 8 | - ros_topic_name: "joint_states" 9 | gz_topic_name: "joint_states" 10 | ros_type_name: "sensor_msgs/msg/JointState" 11 | gz_type_name: "gz.msgs.Model" 12 | direction: GZ_TO_ROS 13 | 14 | # gz topic published by DiffDrive plugin 15 | - ros_topic_name: "odom" 16 | gz_topic_name: "odom" 17 | ros_type_name: "nav_msgs/msg/Odometry" 18 | gz_type_name: "gz.msgs.Odometry" 19 | direction: GZ_TO_ROS 20 | 21 | # gz topic published by DiffDrive plugin 22 | - ros_topic_name: "tf" 23 | gz_topic_name: "tf" 24 | ros_type_name: "tf2_msgs/msg/TFMessage" 25 | gz_type_name: "gz.msgs.Pose_V" 26 | direction: GZ_TO_ROS 27 | 28 | # gz topic subscribed to by DiffDrive plugin 29 | - ros_topic_name: "cmd_vel" 30 | gz_topic_name: "cmd_vel" 31 | ros_type_name: "geometry_msgs/msg/Twist" 32 | gz_type_name: "gz.msgs.Twist" 33 | direction: ROS_TO_GZ 34 | 35 | 36 | # gz topic published by IMU plugin 37 | - ros_topic_name: "imu" 38 | gz_topic_name: "imu" 39 | ros_type_name: "sensor_msgs/msg/Imu" 40 | gz_type_name: "gz.msgs.IMU" 41 | direction: GZ_TO_ROS 42 | 43 | # gz topic published by Sensors plugin (LIDAR) 44 | - ros_topic_name: "scan" 45 | gz_topic_name: "scan" 46 | ros_type_name: "sensor_msgs/msg/LaserScan" 47 | gz_type_name: "gz.msgs.LaserScan" 48 | direction: GZ_TO_ROS 49 | 50 | # gz topic published by Sensors plugin (Camera) 51 | - ros_topic_name: "camera/camera_info" 52 | gz_topic_name: "camera/camera_info" 53 | ros_type_name: "sensor_msgs/msg/CameraInfo" 54 | gz_type_name: "gz.msgs.CameraInfo" 55 | direction: GZ_TO_ROS 56 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | model://ground_plane 7 | 8 | 9 | 10 | model://sun 11 | 12 | 13 | 14 | false 15 | 16 | 17 | 18 | 19 | 0.319654 -0.235002 9.29441 0 1.5138 0.009599 20 | orbit 21 | perspective 22 | 23 | 24 | 25 | 26 | 1000.0 27 | 0.001 28 | 1 29 | 30 | 31 | quick 32 | 150 33 | 0 34 | 1.400000 35 | 1 36 | 37 | 38 | 0.00001 39 | 0.2 40 | 2000.000000 41 | 0.01000 42 | 43 | 44 | 45 | 46 | 47 | 1 48 | 49 | model://turtlebot3_dqn_world 50 | 51 | 52 | 53 | 54 | model://turtlebot3_dqn_world/obstacles 55 | 56 | 57 | 58 | 59 | -------------------------------------------------------------------------------- /.github/workflows/ros-ci.yml: -------------------------------------------------------------------------------- 1 | name: humble-devel 2 | 3 | # Controls when the action will run. Triggers the workflow on push or pull request 4 | on: 5 | push: 6 | branches: [ humble-devel ] 7 | pull_request: 8 | branches: [ humble-devel ] 9 | 10 | # A workflow run is made up of one or more jobs that can run sequentially or in parallel 11 | jobs: 12 | humble-devel: 13 | runs-on: ubuntu-latest 14 | strategy: 15 | fail-fast: false 16 | matrix: 17 | ros_distribution: 18 | #- foxy 19 | # - galactic 20 | - humble 21 | # - rolling 22 | include: 23 | # Foxy Fitzroy (June 2020 - May 2023) 24 | # - docker_image: ubuntu:focal 25 | # ros_distribution: foxy 26 | # ros_version: 2 27 | # # Galactic Geochelone (May 2021) 28 | # - docker_image: ubuntu:focal 29 | # ros_distribution: galactic 30 | # ros_version: 2 31 | # Humble Hawksbill (May 2027) 32 | - docker_image: ubuntu:jammy 33 | ros_distribution: humble 34 | ros_version: 2 35 | # # Rolling 36 | # - docker_image: ubuntu:jammy 37 | # ros_distribution: rolling 38 | # ros_version: 2 39 | container: 40 | image: ${{ matrix.docker_image }} 41 | steps: 42 | - name: Setup directories 43 | run: mkdir -p ros_ws/src 44 | - name: checkout 45 | uses: actions/checkout@v3 46 | with: 47 | path: ros_ws/src 48 | - name: Setup ROS environment 49 | uses: ros-tooling/setup-ros@0.3.3 50 | with: 51 | required-ros-distributions: ${{ matrix.ros_distribution }} 52 | - name: Build and Test 53 | uses: ros-tooling/action-ros-ci@0.2.5 54 | with: 55 | package-name: turtlebot3_simulations 56 | target-ros2-distro: ${{ matrix.ros_distribution }} 57 | vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3_simulations/ros2-devel/turtlebot3_simulations_ci.repos" 58 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane 8 | 9 | 10 | 11 | 12 | 13 | https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun 14 | 15 | 16 | 17 | 18 | false 19 | 20 | 21 | 22 | 23 | 0.319654 -0.235002 9.29441 0 1.5138 0.009599 24 | orbit 25 | perspective 26 | 27 | 28 | 29 | 30 | 1000.0 31 | 0.001 32 | 1 33 | 34 | 35 | quick 36 | 150 37 | 0 38 | 1.400000 39 | 1 40 | 41 | 42 | 0.00001 43 | 0.2 44 | 2000.000000 45 | 0.01000 46 | 47 | 48 | 49 | 50 | 51 | 1 52 | 53 | model://turtlebot3_dqn_world 54 | 55 | 56 | 57 | 58 | 59 | 1 60 | 61 | model://turtlebot3_dqn_world/obstacles 62 | 63 | 64 | 65 | 66 | 67 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/ObstacleAnimator.hh: -------------------------------------------------------------------------------- 1 | // Copyright 2024 Open Source Robotics Foundation 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #pragma once 16 | 17 | #include 18 | #include 19 | #include 20 | #include 21 | 22 | class ObstacleAnimator : public gz::sim::System, 23 | public gz::sim::ISystemConfigure, 24 | public gz::sim::ISystemPreUpdate { 25 | public: 26 | ObstacleAnimator(gz::common::PoseAnimation _animator) 27 | : animator(std::move(_animator)) {} 28 | 29 | virtual void Configure(const gz::sim::Entity &_entity, 30 | const std::shared_ptr &, 31 | gz::sim::EntityComponentManager &, 32 | gz::sim::EventManager &) override { 33 | this->entity = _entity; 34 | } 35 | 36 | virtual void PreUpdate(const gz::sim::UpdateInfo &_info, 37 | gz::sim::EntityComponentManager &_ecm) override { 38 | if (_info.paused) 39 | return; 40 | 41 | this->animator.Time(std::chrono::duration(_info.simTime).count()); 42 | gz::common::PoseKeyFrame keyFrame(0); 43 | this->animator.InterpolatedKeyFrame(keyFrame); 44 | gz::math::Pose3d newPose(keyFrame.Translation(), keyFrame.Rotation()); 45 | _ecm.SetComponentData(this->entity, 46 | newPose); 47 | } 48 | 49 | private: 50 | gz::sim::Entity entity; 51 | gz::common::PoseAnimation animator; 52 | }; 53 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/robot_state_publisher.launch.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # 3 | # Copyright 2019 ROBOTIS CO., LTD. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | # 17 | # Authors: Darby Lim 18 | 19 | import os 20 | 21 | from ament_index_python.packages import get_package_share_directory 22 | from launch import LaunchDescription 23 | from launch.actions import DeclareLaunchArgument 24 | from launch.substitutions import LaunchConfiguration 25 | from launch_ros.actions import Node 26 | 27 | 28 | def generate_launch_description(): 29 | TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] 30 | 31 | use_sim_time = LaunchConfiguration('use_sim_time', default='false') 32 | urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf' 33 | 34 | print('urdf_file_name : {}'.format(urdf_file_name)) 35 | 36 | urdf_path = os.path.join( 37 | get_package_share_directory('turtlebot3_gazebo'), 38 | 'urdf', 39 | urdf_file_name) 40 | 41 | with open(urdf_path, 'r') as infp: 42 | robot_desc = infp.read() 43 | 44 | return LaunchDescription([ 45 | DeclareLaunchArgument( 46 | 'use_sim_time', 47 | default_value='false', 48 | description='Use simulation (Gazebo) clock if true'), 49 | 50 | Node( 51 | package='robot_state_publisher', 52 | executable='robot_state_publisher', 53 | name='robot_state_publisher', 54 | output='screen', 55 | parameters=[{ 56 | 'use_sim_time': use_sim_time, 57 | 'robot_description': robot_desc 58 | }], 59 | ), 60 | ]) 61 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/worlds/empty_world.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 7 | 8 | 11 | 12 | 15 | 16 | 19 | ogre2 20 | 21 | 24 | 25 | 26 | 27 | 28 | https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane 29 | 30 | 31 | 32 | 33 | 34 | https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun 35 | 36 | 37 | 38 | 39 | false 40 | 41 | 42 | 43 | 44 | 0.319654 -0.235002 9.29441 0 1.5138 0.009599 45 | orbit 46 | perspective 47 | 48 | 49 | 50 | 51 | 1000.0 52 | 0.001 53 | 1 54 | 55 | 56 | quick 57 | 150 58 | 0 59 | 1.400000 60 | 1 61 | 62 | 63 | 0.00001 64 | 0.2 65 | 2000.000000 66 | 0.01000 67 | 68 | 69 | 70 | 71 | 72 | 73 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc: -------------------------------------------------------------------------------- 1 | // Copyright 2012 Open Source Robotics Foundation 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | // 15 | // Author: Ryan Shim 16 | 17 | #include "ObstacleAnimator.hh" 18 | 19 | #include 20 | 21 | #include 22 | #include 23 | #include 24 | 25 | #define PI 3.141592 26 | 27 | namespace gazebo { 28 | class Obstacles : public ObstacleAnimator { 29 | public: 30 | Obstacles() : ObstacleAnimator(CreateAnimation()) {} 31 | 32 | // create the animation 33 | gz::common::PoseAnimation CreateAnimation() { 34 | 35 | // name the animation "move", 36 | // make it last 40 seconds, 37 | // and set it on a repeat loop 38 | gz::common::PoseAnimation anim = 39 | gz::common::PoseAnimation("move", 40.0, true); 40 | 41 | gz::common::PoseKeyFrame *key; 42 | 43 | // set starting location of the box 44 | key = anim.CreateKeyFrame(0); 45 | key->Translation(gz::math::Vector3d(0.0, 0.0, 0.0)); 46 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 47 | 48 | key = anim.CreateKeyFrame(20); 49 | key->Translation(gz::math::Vector3d(0.0, 0.0, 0.0)); 50 | key->Rotation(gz::math::Quaterniond(0, 0, PI)); 51 | 52 | key = anim.CreateKeyFrame(40); 53 | key->Translation(gz::math::Vector3d(0.0, 0.0, 0.0)); 54 | key->Rotation(gz::math::Quaterniond(0, 0, 2 * PI)); 55 | 56 | return anim; 57 | } 58 | }; 59 | // Register this plugin with the simulator 60 | GZ_ADD_PLUGIN(Obstacles, ::gz::sim::System, ::gz::sim::ISystemConfigure, 61 | ::gz::sim::ISystemPreUpdate) 62 | GZ_ADD_PLUGIN_ALIAS(Obstacles, "obstacles") 63 | } // namespace gazebo 64 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/worlds/turtlebot3_house.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 7 | 8 | 11 | 12 | 15 | 16 | 19 | ogre2 20 | 21 | 24 | 25 | 26 | 27 | 28 | https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane 29 | 30 | 31 | 32 | 33 | 34 | https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun 35 | 36 | 37 | 38 | 39 | 40 | 0.319654 -0.235002 9.29441 0 1.5138 0.009599 41 | orbit 42 | perspective 43 | 44 | 45 | 46 | 47 | 1000.0 48 | 0.001 49 | 1 50 | 51 | 52 | quick 53 | 150 54 | 0 55 | 1.400000 56 | 1 57 | 58 | 59 | 0.00001 60 | 0.2 61 | 2000.000000 62 | 0.01000 63 | 64 | 65 | 66 | 67 | 68 | 1 69 | 70 | model://turtlebot3_house 71 | 72 | 73 | 74 | 75 | 76 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2019 ROBOTIS CO., LTD. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | // 15 | // Authors: Taehun Lim (Darby), Ryan Shim 16 | 17 | #ifndef TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_ 18 | #define TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_ 19 | 20 | #include 21 | #include 22 | #include 23 | #include 24 | #include 25 | #include 26 | 27 | #define DEG2RAD (M_PI / 180.0) 28 | #define RAD2DEG (180.0 / M_PI) 29 | 30 | #define CENTER 0 31 | #define LEFT 1 32 | #define RIGHT 2 33 | 34 | #define LINEAR_VELOCITY 0.3 35 | #define ANGULAR_VELOCITY 1.5 36 | 37 | #define GET_TB3_DIRECTION 0 38 | #define TB3_DRIVE_FORWARD 1 39 | #define TB3_RIGHT_TURN 2 40 | #define TB3_LEFT_TURN 3 41 | 42 | class Turtlebot3Drive : public rclcpp::Node 43 | { 44 | public: 45 | Turtlebot3Drive(); 46 | ~Turtlebot3Drive(); 47 | 48 | private: 49 | // ROS topic publishers 50 | rclcpp::Publisher::SharedPtr cmd_vel_pub_; 51 | 52 | // ROS topic subscribers 53 | rclcpp::Subscription::SharedPtr scan_sub_; 54 | rclcpp::Subscription::SharedPtr odom_sub_; 55 | 56 | // Variables 57 | double robot_pose_; 58 | double prev_robot_pose_; 59 | double scan_data_[3]; 60 | 61 | // ROS timer 62 | rclcpp::TimerBase::SharedPtr update_timer_; 63 | 64 | // Function prototypes 65 | void update_callback(); 66 | void update_cmd_vel(double linear, double angular); 67 | void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg); 68 | void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg); 69 | }; 70 | #endif // TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_ 71 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane 8 | 9 | 10 | 11 | 12 | 13 | https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun 14 | 15 | 16 | 17 | 18 | false 19 | 20 | 21 | 22 | 23 | 0.319654 -0.235002 9.29441 0 1.5138 0.009599 24 | orbit 25 | perspective 26 | 27 | 28 | 29 | 30 | 1000.0 31 | 0.001 32 | 1 33 | 34 | 35 | quick 36 | 150 37 | 0 38 | 1.400000 39 | 1 40 | 41 | 42 | 0.00001 43 | 0.2 44 | 2000.000000 45 | 0.01000 46 | 47 | 48 | 49 | 50 | 51 | 1 52 | 53 | model://turtlebot3_dqn_world 54 | 55 | 56 | 57 | 58 | 0 0 0 0 0 0 59 | model://turtlebot3_dqn_world/inner_walls 60 | 61 | 62 | 63 | 64 | 65 | 2 2 0 0 0 0 66 | model://turtlebot3_dqn_world/obstacle1 67 | 68 | 69 | 70 | 71 | 72 | 73 | -2 -2 0 0 0 0 74 | model://turtlebot3_dqn_world/obstacle2 75 | 76 | 77 | 78 | 79 | 80 | -------------------------------------------------------------------------------- /turtlebot3_fake_node/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Set minimum required version of cmake, project name and compile options 3 | ################################################################################ 4 | cmake_minimum_required(VERSION 3.5) 5 | project(turtlebot3_fake_node) 6 | 7 | if(NOT CMAKE_CXX_STANDARD) 8 | set(CMAKE_CXX_STANDARD 17) 9 | endif() 10 | 11 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 12 | add_compile_options(-Wall -Wextra -Wpedantic) 13 | endif() 14 | 15 | ################################################################################ 16 | # Find and load build settings from external packages 17 | ################################################################################ 18 | find_package(ament_cmake REQUIRED) 19 | find_package(geometry_msgs REQUIRED) 20 | find_package(nav_msgs REQUIRED) 21 | find_package(rclcpp REQUIRED) 22 | find_package(sensor_msgs REQUIRED) 23 | find_package(tf2 REQUIRED) 24 | find_package(tf2_msgs REQUIRED) 25 | find_package(turtlebot3_msgs REQUIRED) 26 | 27 | ################################################################################ 28 | # Build 29 | ################################################################################ 30 | include_directories( 31 | include 32 | ) 33 | 34 | set(dependencies 35 | "geometry_msgs" 36 | "nav_msgs" 37 | "rclcpp" 38 | "sensor_msgs" 39 | "tf2" 40 | "tf2_msgs" 41 | "turtlebot3_msgs" 42 | ) 43 | 44 | set(EXEC_NAME "turtlebot3_fake_node") 45 | 46 | add_executable(${EXEC_NAME} src/turtlebot3_fake_node.cpp) 47 | ament_target_dependencies(${EXEC_NAME} ${dependencies}) 48 | 49 | ################################################################################ 50 | # Install 51 | ################################################################################ 52 | install(TARGETS ${EXEC_NAME} 53 | DESTINATION lib/${PROJECT_NAME} 54 | ) 55 | 56 | install(DIRECTORY launch param 57 | DESTINATION share/${PROJECT_NAME} 58 | ) 59 | 60 | install(DIRECTORY include/ 61 | DESTINATION include/ 62 | ) 63 | 64 | ################################################################################ 65 | # Macro for ament package 66 | ################################################################################ 67 | ament_export_include_directories(include) 68 | ament_export_dependencies(geometry_msgs) 69 | ament_export_dependencies(nav_msgs) 70 | ament_export_dependencies(rclcpp) 71 | ament_export_dependencies(sensor_msgs) 72 | ament_export_dependencies(tf2) 73 | ament_export_dependencies(tf2_msgs) 74 | ament_export_dependencies(turtlebot3_msgs) 75 | ament_package() 76 | -------------------------------------------------------------------------------- /turtlebot3_fake_node/include/turtlebot3_fake_node/turtlebot3_fake_node.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 2019 ROBOTIS CO., LTD. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | // 15 | // Authors: Yoonseok Pyo, Ryan Shim 16 | 17 | #ifndef TURTLEBOT3_FAKE_NODE__TURTLEBOT3_FAKE_NODE_HPP_ 18 | #define TURTLEBOT3_FAKE_NODE__TURTLEBOT3_FAKE_NODE_HPP_ 19 | 20 | #include 21 | #include 22 | #include 23 | 24 | #include "geometry_msgs/msg/transform_stamped.hpp" 25 | #include "geometry_msgs/msg/twist.hpp" 26 | #include "nav_msgs/msg/odometry.hpp" 27 | #include "sensor_msgs/msg/joint_state.hpp" 28 | #include "tf2_msgs/msg/tf_message.hpp" 29 | #include "turtlebot3_msgs/msg/sensor_state.hpp" 30 | 31 | #define LEFT 0 32 | #define RIGHT 1 33 | 34 | class Turtlebot3Fake : public rclcpp::Node 35 | { 36 | public: 37 | Turtlebot3Fake(); 38 | ~Turtlebot3Fake(); 39 | 40 | private: 41 | // ROS time 42 | rclcpp::Time last_cmd_vel_time_; 43 | rclcpp::Time prev_update_time_; 44 | 45 | // ROS timer 46 | rclcpp::TimerBase::SharedPtr update_timer_; 47 | 48 | // ROS topic publishers 49 | rclcpp::Publisher::SharedPtr odom_pub_; 50 | rclcpp::Publisher::SharedPtr joint_states_pub_; 51 | rclcpp::Publisher::SharedPtr tf_pub_; 52 | 53 | // ROS topic subscribers 54 | rclcpp::Subscription::SharedPtr cmd_vel_sub_; 55 | 56 | 57 | nav_msgs::msg::Odometry odom_; 58 | sensor_msgs::msg::JointState joint_states_; 59 | 60 | double wheel_speed_cmd_[2]; 61 | double goal_linear_velocity_; 62 | double goal_angular_velocity_; 63 | double cmd_vel_timeout_; 64 | double last_position_[2]; 65 | double last_velocity_[2]; 66 | float odom_pose_[3]; 67 | float odom_vel_[3]; 68 | 69 | double wheel_seperation_; 70 | double wheel_radius_; 71 | 72 | // Function prototypes 73 | void init_parameters(); 74 | void init_variables(); 75 | void command_velocity_callback(const geometry_msgs::msg::Twist::SharedPtr cmd_vel_msg); 76 | void update_callback(); 77 | bool update_odometry(const rclcpp::Duration & diff_time); 78 | void update_joint_state(); 79 | void update_tf(geometry_msgs::msg::TransformStamped & odom_tf); 80 | }; 81 | #endif // TURTLEBOT3_FAKE_NODE__TURTLEBOT3_FAKE_NODE_HPP_ 82 | -------------------------------------------------------------------------------- /turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | # Author: Ryan Shim 16 | 17 | import os 18 | 19 | from ament_index_python.packages import get_package_share_directory 20 | from launch import LaunchDescription 21 | from launch.actions import DeclareLaunchArgument 22 | from launch.actions import IncludeLaunchDescription 23 | from launch.actions import LogInfo 24 | from launch.launch_description_sources import PythonLaunchDescriptionSource 25 | from launch.substitutions import LaunchConfiguration 26 | from launch_ros.actions import Node 27 | 28 | TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] 29 | 30 | 31 | def generate_launch_description(): 32 | param_dir = LaunchConfiguration( 33 | 'param_dir', 34 | default=os.path.join( 35 | get_package_share_directory('turtlebot3_fake_node'), 36 | 'param', 37 | TURTLEBOT3_MODEL + '.yaml')) 38 | 39 | rviz_dir = LaunchConfiguration( 40 | 'rviz_dir', 41 | default=os.path.join( 42 | get_package_share_directory('turtlebot3_fake_node'), 'launch')) 43 | 44 | use_sim_time = LaunchConfiguration('use_sim_time', default='false') 45 | urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf' 46 | 47 | urdf = os.path.join( 48 | get_package_share_directory('turtlebot3_gazebo'), 49 | 'urdf', 50 | urdf_file_name) 51 | 52 | return LaunchDescription([ 53 | LogInfo(msg=['Execute Turtlebot3 Fake Node!!']), 54 | 55 | DeclareLaunchArgument( 56 | 'param_dir', 57 | default_value=param_dir, 58 | description='Specifying parameter direction'), 59 | 60 | IncludeLaunchDescription( 61 | PythonLaunchDescriptionSource([rviz_dir, '/rviz2.launch.py'])), 62 | 63 | Node( 64 | package='turtlebot3_fake_node', 65 | executable='turtlebot3_fake_node', 66 | parameters=[param_dir], 67 | output='screen'), 68 | 69 | Node( 70 | package='robot_state_publisher', 71 | executable='robot_state_publisher', 72 | name='robot_state_publisher', 73 | output='screen', 74 | parameters=[{'use_sim_time': use_sim_time}], 75 | arguments=[urdf]), 76 | ]) 77 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # 3 | # Copyright 2019 ROBOTIS CO., LTD. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | # 17 | # Authors: Joep Tool 18 | 19 | import os 20 | 21 | from ament_index_python.packages import get_package_share_directory 22 | from launch import LaunchDescription 23 | from launch.actions import IncludeLaunchDescription 24 | from launch.launch_description_sources import PythonLaunchDescriptionSource 25 | from launch.substitutions import LaunchConfiguration 26 | 27 | 28 | def generate_launch_description(): 29 | launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') 30 | pkg_gazebo_ros = get_package_share_directory('gazebo_ros') 31 | 32 | use_sim_time = LaunchConfiguration('use_sim_time', default='true') 33 | x_pose = LaunchConfiguration('x_pose', default='0.0') 34 | y_pose = LaunchConfiguration('y_pose', default='0.0') 35 | 36 | world = os.path.join( 37 | get_package_share_directory('turtlebot3_gazebo'), 38 | 'worlds', 39 | 'turtlebot3_dqn_stage1.world' 40 | ) 41 | 42 | gzserver_cmd = IncludeLaunchDescription( 43 | PythonLaunchDescriptionSource( 44 | os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') 45 | ), 46 | launch_arguments={'world': world}.items() 47 | ) 48 | 49 | gzclient_cmd = IncludeLaunchDescription( 50 | PythonLaunchDescriptionSource( 51 | os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') 52 | ) 53 | ) 54 | 55 | robot_state_publisher_cmd = IncludeLaunchDescription( 56 | PythonLaunchDescriptionSource( 57 | os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') 58 | ), 59 | launch_arguments={'use_sim_time': use_sim_time}.items() 60 | ) 61 | 62 | spawn_turtlebot_cmd = IncludeLaunchDescription( 63 | PythonLaunchDescriptionSource( 64 | os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') 65 | ), 66 | launch_arguments={ 67 | 'x_pose': x_pose, 68 | 'y_pose': y_pose 69 | }.items() 70 | ) 71 | 72 | ld = LaunchDescription() 73 | 74 | # Add the commands to the launch description 75 | ld.add_action(gzserver_cmd) 76 | ld.add_action(gzclient_cmd) 77 | ld.add_action(robot_state_publisher_cmd) 78 | ld.add_action(spawn_turtlebot_cmd) 79 | 80 | return ld 81 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # 3 | # Copyright 2019 ROBOTIS CO., LTD. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | # 17 | # Authors: Joep Tool 18 | 19 | import os 20 | 21 | from ament_index_python.packages import get_package_share_directory 22 | from launch import LaunchDescription 23 | from launch.actions import IncludeLaunchDescription 24 | from launch.launch_description_sources import PythonLaunchDescriptionSource 25 | from launch.substitutions import LaunchConfiguration 26 | 27 | 28 | def generate_launch_description(): 29 | launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') 30 | pkg_gazebo_ros = get_package_share_directory('gazebo_ros') 31 | 32 | use_sim_time = LaunchConfiguration('use_sim_time', default='true') 33 | x_pose = LaunchConfiguration('x_pose', default='0.0') 34 | y_pose = LaunchConfiguration('y_pose', default='0.0') 35 | 36 | world = os.path.join( 37 | get_package_share_directory('turtlebot3_gazebo'), 38 | 'worlds', 39 | 'turtlebot3_dqn_stage2.world' 40 | ) 41 | 42 | gzserver_cmd = IncludeLaunchDescription( 43 | PythonLaunchDescriptionSource( 44 | os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') 45 | ), 46 | launch_arguments={'world': world}.items() 47 | ) 48 | 49 | gzclient_cmd = IncludeLaunchDescription( 50 | PythonLaunchDescriptionSource( 51 | os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') 52 | ) 53 | ) 54 | 55 | robot_state_publisher_cmd = IncludeLaunchDescription( 56 | PythonLaunchDescriptionSource( 57 | os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') 58 | ), 59 | launch_arguments={'use_sim_time': use_sim_time}.items() 60 | ) 61 | 62 | spawn_turtlebot_cmd = IncludeLaunchDescription( 63 | PythonLaunchDescriptionSource( 64 | os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') 65 | ), 66 | launch_arguments={ 67 | 'x_pose': x_pose, 68 | 'y_pose': y_pose 69 | }.items() 70 | ) 71 | 72 | ld = LaunchDescription() 73 | 74 | # Add the commands to the launch description 75 | ld.add_action(gzserver_cmd) 76 | ld.add_action(gzclient_cmd) 77 | ld.add_action(robot_state_publisher_cmd) 78 | ld.add_action(spawn_turtlebot_cmd) 79 | 80 | return ld 81 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # 3 | # Copyright 2019 ROBOTIS CO., LTD. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | # 17 | # Authors: Joep Tool 18 | 19 | import os 20 | 21 | from ament_index_python.packages import get_package_share_directory 22 | from launch import LaunchDescription 23 | from launch.actions import IncludeLaunchDescription 24 | from launch.launch_description_sources import PythonLaunchDescriptionSource 25 | from launch.substitutions import LaunchConfiguration 26 | 27 | 28 | def generate_launch_description(): 29 | launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') 30 | pkg_gazebo_ros = get_package_share_directory('gazebo_ros') 31 | 32 | use_sim_time = LaunchConfiguration('use_sim_time', default='true') 33 | x_pose = LaunchConfiguration('x_pose', default='0.0') 34 | y_pose = LaunchConfiguration('y_pose', default='0.0') 35 | 36 | world = os.path.join( 37 | get_package_share_directory('turtlebot3_gazebo'), 38 | 'worlds', 39 | 'turtlebot3_dqn_stage3.world' 40 | ) 41 | 42 | gzserver_cmd = IncludeLaunchDescription( 43 | PythonLaunchDescriptionSource( 44 | os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') 45 | ), 46 | launch_arguments={'world': world}.items() 47 | ) 48 | 49 | gzclient_cmd = IncludeLaunchDescription( 50 | PythonLaunchDescriptionSource( 51 | os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') 52 | ) 53 | ) 54 | 55 | robot_state_publisher_cmd = IncludeLaunchDescription( 56 | PythonLaunchDescriptionSource( 57 | os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') 58 | ), 59 | launch_arguments={'use_sim_time': use_sim_time}.items() 60 | ) 61 | 62 | spawn_turtlebot_cmd = IncludeLaunchDescription( 63 | PythonLaunchDescriptionSource( 64 | os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') 65 | ), 66 | launch_arguments={ 67 | 'x_pose': x_pose, 68 | 'y_pose': y_pose 69 | }.items() 70 | ) 71 | 72 | ld = LaunchDescription() 73 | 74 | # Add the commands to the launch description 75 | ld.add_action(gzserver_cmd) 76 | ld.add_action(gzclient_cmd) 77 | ld.add_action(robot_state_publisher_cmd) 78 | ld.add_action(spawn_turtlebot_cmd) 79 | 80 | return ld 81 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # 3 | # Copyright 2019 ROBOTIS CO., LTD. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | # 17 | # Authors: Joep Tool 18 | 19 | import os 20 | 21 | from ament_index_python.packages import get_package_share_directory 22 | from launch import LaunchDescription 23 | from launch.actions import IncludeLaunchDescription 24 | from launch.launch_description_sources import PythonLaunchDescriptionSource 25 | from launch.substitutions import LaunchConfiguration 26 | 27 | 28 | def generate_launch_description(): 29 | launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') 30 | pkg_gazebo_ros = get_package_share_directory('gazebo_ros') 31 | 32 | use_sim_time = LaunchConfiguration('use_sim_time', default='true') 33 | x_pose = LaunchConfiguration('x_pose', default='0.0') 34 | y_pose = LaunchConfiguration('y_pose', default='0.0') 35 | 36 | world = os.path.join( 37 | get_package_share_directory('turtlebot3_gazebo'), 38 | 'worlds', 39 | 'turtlebot3_dqn_stage4.world' 40 | ) 41 | 42 | gzserver_cmd = IncludeLaunchDescription( 43 | PythonLaunchDescriptionSource( 44 | os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') 45 | ), 46 | launch_arguments={'world': world}.items() 47 | ) 48 | 49 | gzclient_cmd = IncludeLaunchDescription( 50 | PythonLaunchDescriptionSource( 51 | os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') 52 | ) 53 | ) 54 | 55 | robot_state_publisher_cmd = IncludeLaunchDescription( 56 | PythonLaunchDescriptionSource( 57 | os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') 58 | ), 59 | launch_arguments={'use_sim_time': use_sim_time}.items() 60 | ) 61 | 62 | spawn_turtlebot_cmd = IncludeLaunchDescription( 63 | PythonLaunchDescriptionSource( 64 | os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') 65 | ), 66 | launch_arguments={ 67 | 'x_pose': x_pose, 68 | 'y_pose': y_pose 69 | }.items() 70 | ) 71 | 72 | ld = LaunchDescription() 73 | 74 | # Add the commands to the launch description 75 | ld.add_action(gzserver_cmd) 76 | ld.add_action(gzclient_cmd) 77 | ld.add_action(robot_state_publisher_cmd) 78 | ld.add_action(spawn_turtlebot_cmd) 79 | 80 | return ld 81 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc: -------------------------------------------------------------------------------- 1 | // Copyright 2012 Open Source Robotics Foundation 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | // 15 | // Author: Ryan Shim 16 | 17 | #include "ObstacleAnimator.hh" 18 | 19 | #include 20 | 21 | #include 22 | #include 23 | #include 24 | 25 | namespace gazebo { 26 | class Obstacle1 : public ObstacleAnimator { 27 | public: 28 | Obstacle1() : ObstacleAnimator(CreateAnimation()) {} 29 | 30 | gz::common::PoseAnimation CreateAnimation() { 31 | // create the animation 32 | // name the animation "move_1", 33 | // make it last 260 seconds, 34 | // and set it on a repeat loop 35 | gz::common::PoseAnimation anim("move1", 160.0, true); 36 | 37 | gz::common::PoseKeyFrame *key; 38 | 39 | // set starting location of the box 40 | key = anim.CreateKeyFrame(0); 41 | key->Translation(gz::math::Vector3d(0.0, 0.0, 0.0)); 42 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 43 | 44 | key = anim.CreateKeyFrame(10); 45 | key->Translation(gz::math::Vector3d(-0.5, -1.0, 0.0)); 46 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 47 | 48 | key = anim.CreateKeyFrame(50); 49 | key->Translation(gz::math::Vector3d(-3.5, -1.0, 0.0)); 50 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 51 | 52 | key = anim.CreateKeyFrame(70); 53 | key->Translation(gz::math::Vector3d(-3.7, -3.0, 0.0)); 54 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 55 | 56 | key = anim.CreateKeyFrame(90); 57 | key->Translation(gz::math::Vector3d(-3.5, -1.0, 0.0)); 58 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 59 | 60 | key = anim.CreateKeyFrame(130); 61 | key->Translation(gz::math::Vector3d(-0.5, -1.0, 0.0)); 62 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 63 | 64 | key = anim.CreateKeyFrame(140); 65 | key->Translation(gz::math::Vector3d(0.0, 0.0, 0.0)); 66 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 67 | 68 | key = anim.CreateKeyFrame(160); 69 | key->Translation(gz::math::Vector3d(0.0, 0.0, 0.0)); 70 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 71 | 72 | return anim; 73 | } 74 | }; 75 | // Register this plugin with the simulator 76 | GZ_ADD_PLUGIN(Obstacle1, ::gz::sim::System, ::gz::sim::ISystemConfigure, 77 | ::gz::sim::ISystemPreUpdate) 78 | GZ_ADD_PLUGIN_ALIAS(Obstacle1, "obstacle1") 79 | } // namespace gazebo 80 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_house.launch.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # 3 | # Copyright 2019 ROBOTIS CO., LTD. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | # 17 | # Authors: Joep Tool 18 | 19 | import os 20 | 21 | from ament_index_python.packages import get_package_share_directory 22 | from launch import LaunchDescription 23 | from launch.actions import AppendEnvironmentVariable 24 | from launch.actions import IncludeLaunchDescription 25 | from launch.launch_description_sources import PythonLaunchDescriptionSource 26 | from launch.substitutions import LaunchConfiguration 27 | 28 | 29 | def generate_launch_description(): 30 | launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') 31 | ros_gz_sim = get_package_share_directory('ros_gz_sim') 32 | 33 | use_sim_time = LaunchConfiguration('use_sim_time', default='true') 34 | x_pose = LaunchConfiguration('x_pose', default='-2.0') 35 | y_pose = LaunchConfiguration('y_pose', default='-0.5') 36 | 37 | world = os.path.join( 38 | get_package_share_directory('turtlebot3_gazebo'), 39 | 'worlds', 40 | 'turtlebot3_house.world' 41 | ) 42 | set_env_vars_resources = AppendEnvironmentVariable( 43 | 'GZ_SIM_RESOURCE_PATH', 44 | os.path.join(get_package_share_directory('turtlebot3_gazebo'), 45 | 'models')) 46 | 47 | gzserver_cmd = IncludeLaunchDescription( 48 | PythonLaunchDescriptionSource( 49 | os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') 50 | ), 51 | launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items() 52 | ) 53 | gzclient_cmd = IncludeLaunchDescription( 54 | PythonLaunchDescriptionSource( 55 | os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') 56 | ), 57 | launch_arguments={'gz_args': '-g -v4 '}.items() 58 | ) 59 | 60 | robot_state_publisher_cmd = IncludeLaunchDescription( 61 | PythonLaunchDescriptionSource( 62 | os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') 63 | ), 64 | launch_arguments={'use_sim_time': use_sim_time}.items() 65 | ) 66 | 67 | spawn_turtlebot_cmd = IncludeLaunchDescription( 68 | PythonLaunchDescriptionSource( 69 | os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') 70 | ), 71 | launch_arguments={ 72 | 'x_pose': x_pose, 73 | 'y_pose': y_pose 74 | }.items() 75 | ) 76 | 77 | ld = LaunchDescription() 78 | 79 | # Add the commands to the launch description 80 | ld.add_action(set_env_vars_resources) 81 | ld.add_action(gzserver_cmd) 82 | ld.add_action(gzclient_cmd) 83 | ld.add_action(robot_state_publisher_cmd) 84 | ld.add_action(spawn_turtlebot_cmd) 85 | 86 | return ld 87 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_world.launch.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # 3 | # Copyright 2019 ROBOTIS CO., LTD. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | # 17 | # Authors: Joep Tool 18 | 19 | import os 20 | 21 | from ament_index_python.packages import get_package_share_directory 22 | from launch import LaunchDescription 23 | from launch.actions import AppendEnvironmentVariable 24 | from launch.actions import IncludeLaunchDescription 25 | from launch.launch_description_sources import PythonLaunchDescriptionSource 26 | from launch.substitutions import LaunchConfiguration 27 | 28 | 29 | def generate_launch_description(): 30 | launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') 31 | ros_gz_sim = get_package_share_directory('ros_gz_sim') 32 | 33 | use_sim_time = LaunchConfiguration('use_sim_time', default='true') 34 | x_pose = LaunchConfiguration('x_pose', default='-2.0') 35 | y_pose = LaunchConfiguration('y_pose', default='-0.5') 36 | 37 | world = os.path.join( 38 | get_package_share_directory('turtlebot3_gazebo'), 39 | 'worlds', 40 | 'turtlebot3_world.world' 41 | ) 42 | set_env_vars_resources = AppendEnvironmentVariable( 43 | 'GZ_SIM_RESOURCE_PATH', 44 | os.path.join(get_package_share_directory('turtlebot3_gazebo'), 45 | 'models')) 46 | 47 | gzserver_cmd = IncludeLaunchDescription( 48 | PythonLaunchDescriptionSource( 49 | os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') 50 | ), 51 | launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items() 52 | ) 53 | gzclient_cmd = IncludeLaunchDescription( 54 | PythonLaunchDescriptionSource( 55 | os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') 56 | ), 57 | launch_arguments={'gz_args': '-g -v4 '}.items() 58 | ) 59 | 60 | robot_state_publisher_cmd = IncludeLaunchDescription( 61 | PythonLaunchDescriptionSource( 62 | os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') 63 | ), 64 | launch_arguments={'use_sim_time': use_sim_time}.items() 65 | ) 66 | 67 | spawn_turtlebot_cmd = IncludeLaunchDescription( 68 | PythonLaunchDescriptionSource( 69 | os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') 70 | ), 71 | launch_arguments={ 72 | 'x_pose': x_pose, 73 | 'y_pose': y_pose 74 | }.items() 75 | ) 76 | 77 | ld = LaunchDescription() 78 | 79 | # Add the commands to the launch description 80 | ld.add_action(set_env_vars_resources) 81 | ld.add_action(gzserver_cmd) 82 | ld.add_action(gzclient_cmd) 83 | ld.add_action(robot_state_publisher_cmd) 84 | ld.add_action(spawn_turtlebot_cmd) 85 | 86 | return ld 87 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | import os 16 | 17 | from ament_index_python.packages import get_package_share_directory 18 | from launch import LaunchDescription 19 | from launch.actions import DeclareLaunchArgument 20 | from launch.substitutions import LaunchConfiguration 21 | from launch_ros.actions import Node 22 | 23 | 24 | def generate_launch_description(): 25 | # Get the urdf file 26 | TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] 27 | model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL 28 | urdf_path = os.path.join( 29 | get_package_share_directory('turtlebot3_gazebo'), 30 | 'models', 31 | model_folder, 32 | 'model.sdf' 33 | ) 34 | 35 | # Launch configuration variables specific to simulation 36 | x_pose = LaunchConfiguration('x_pose', default='0.0') 37 | y_pose = LaunchConfiguration('y_pose', default='0.0') 38 | 39 | # Declare the launch arguments 40 | declare_x_position_cmd = DeclareLaunchArgument( 41 | 'x_pose', default_value='0.0', 42 | description='Specify namespace of the robot') 43 | 44 | declare_y_position_cmd = DeclareLaunchArgument( 45 | 'y_pose', default_value='0.0', 46 | description='Specify namespace of the robot') 47 | 48 | start_gazebo_ros_spawner_cmd = Node( 49 | package='ros_gz_sim', 50 | executable='create', 51 | arguments=[ 52 | '-name', TURTLEBOT3_MODEL, 53 | '-file', urdf_path, 54 | '-x', x_pose, 55 | '-y', y_pose, 56 | '-z', '0.01' 57 | ], 58 | output='screen', 59 | ) 60 | 61 | bridge_params = os.path.join( 62 | get_package_share_directory('turtlebot3_gazebo'), 63 | 'params', 64 | 'turtlebot3_waffle_bridge.yaml' 65 | ) 66 | 67 | start_gazebo_ros_bridge_cmd = Node( 68 | package='ros_gz_bridge', 69 | executable='parameter_bridge', 70 | arguments=[ 71 | '--ros-args', 72 | '-p', 73 | f'config_file:={bridge_params}', 74 | ], 75 | output='screen', 76 | ) 77 | 78 | start_gazebo_ros_image_bridge_cmd = Node( 79 | package='ros_gz_image', 80 | executable='image_bridge', 81 | arguments=['/camera/image_raw'], 82 | output='screen', 83 | ) 84 | 85 | ld = LaunchDescription() 86 | 87 | # Declare the launch options 88 | ld.add_action(declare_x_position_cmd) 89 | ld.add_action(declare_y_position_cmd) 90 | 91 | # Add any conditioned actions 92 | ld.add_action(start_gazebo_ros_spawner_cmd) 93 | ld.add_action(start_gazebo_ros_bridge_cmd) 94 | ld.add_action(start_gazebo_ros_image_bridge_cmd) 95 | 96 | return ld 97 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/empty_world.launch.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # 3 | # Copyright 2019 ROBOTIS CO., LTD. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | # 17 | # Authors: Joep Tool 18 | 19 | import os 20 | 21 | from ament_index_python.packages import get_package_share_directory 22 | from launch import LaunchDescription 23 | from launch.actions import AppendEnvironmentVariable 24 | from launch.actions import IncludeLaunchDescription 25 | from launch.launch_description_sources import PythonLaunchDescriptionSource 26 | from launch.substitutions import LaunchConfiguration 27 | 28 | 29 | def generate_launch_description(): 30 | launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') 31 | ros_gz_sim = get_package_share_directory('ros_gz_sim') 32 | 33 | use_sim_time = LaunchConfiguration('use_sim_time', default='true') 34 | x_pose = LaunchConfiguration('x_pose', default='0.0') 35 | y_pose = LaunchConfiguration('y_pose', default='0.0') 36 | 37 | world = os.path.join( 38 | get_package_share_directory('turtlebot3_gazebo'), 39 | 'worlds', 40 | 'empty_world.world' 41 | ) 42 | set_env_vars_resources = AppendEnvironmentVariable( 43 | 'GZ_SIM_RESOURCE_PATH', 44 | os.path.join(get_package_share_directory('turtlebot3_gazebo'), 45 | 'models')) 46 | 47 | gzserver_cmd = IncludeLaunchDescription( 48 | PythonLaunchDescriptionSource( 49 | os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') 50 | ), 51 | launch_arguments={'gz_args': ['-r -s -v4 ', world], 'on_exit_shutdown': 'true'}.items() 52 | ) 53 | gzclient_cmd = IncludeLaunchDescription( 54 | PythonLaunchDescriptionSource( 55 | os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') 56 | ), 57 | launch_arguments={'gz_args': '-g -v4 '}.items() 58 | ) 59 | 60 | robot_state_publisher_cmd = IncludeLaunchDescription( 61 | PythonLaunchDescriptionSource( 62 | os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') 63 | ), 64 | launch_arguments={'use_sim_time': use_sim_time}.items() 65 | ) 66 | 67 | spawn_turtlebot_cmd = IncludeLaunchDescription( 68 | PythonLaunchDescriptionSource( 69 | os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') 70 | ), 71 | launch_arguments={ 72 | 'x_pose': x_pose, 73 | 'y_pose': y_pose 74 | }.items() 75 | ) 76 | 77 | ld = LaunchDescription() 78 | 79 | # Add the commands to the launch description 80 | ld.add_action(set_env_vars_resources) 81 | ld.add_action(gzserver_cmd) 82 | ld.add_action(gzclient_cmd) 83 | ld.add_action(robot_state_publisher_cmd) 84 | ld.add_action(spawn_turtlebot_cmd) 85 | 86 | return ld 87 | -------------------------------------------------------------------------------- /turtlebot3_fake_node/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package turtlebot3_fake 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2.2.6 (2202-05-26) 6 | ------------------ 7 | * ROS2 Humble Hawksbill supported 8 | 9 | 2.2.5 (2021-08-25) 10 | ------------------ 11 | * Release for ROS2 Rolling 12 | * Contributors: Will Son 13 | 14 | 2.2.4 (2021-06-14) 15 | ------------------ 16 | * Release for ROS2 Galactic 17 | * Clean up unncessary files 18 | * Use turtlebot3_common mesh modeling 19 | * Independent turtlebot3_simulations package 20 | * Contributors: Will Son 21 | 22 | 2.2.3 (2021-04-12) 23 | ------------------ 24 | * Update required keyword arguments 25 | * Contributors: ruffsl 26 | 27 | 2.2.2 (2021-02-24) 28 | ------------------ 29 | * none 30 | 31 | 2.2.1 (2021-01-13) 32 | ------------------ 33 | * Eloquent Elusor EOL 34 | * Ament lint applied 35 | * Contributors: ashe Kim, Will Son 36 | 37 | 2.2.0 (2020-06-29) 38 | ------------------ 39 | * none 40 | 41 | 2.1.0 (2019-09-10) 42 | ------------------ 43 | * ROS 2 migration of turtlebot3_fake_node package 44 | * Modified rviz config (background colour changed to white, tf display disabled) 45 | * Contributors: Ryan Shim, Darby Lim, Pyo 46 | 47 | 2.0.1 (2019-09-05) 48 | ------------------ 49 | * none 50 | 51 | 2.0.0 (2019-08-20) 52 | ------------------ 53 | * none 54 | 55 | 1.3.0 (2020-06-29) 56 | ------------------ 57 | * none 58 | 59 | 1.2.0 (2019-01-22) 60 | ------------------ 61 | * move out the init() from ROS_ASSERT `#68 `_ 62 | * Contributors: Sean Yen, Darby Lim, Pyo 63 | 64 | 1.1.0 (2018-07-20) 65 | ------------------ 66 | * added TurtleBot3 Waffle Pi 67 | * Contributors: Darby Lim, Pyo 68 | 69 | 1.0.2 (2018-06-01) 70 | ------------------ 71 | * none 72 | 73 | 1.0.1 (2018-05-30) 74 | ------------------ 75 | * none 76 | 77 | 1.0.0 (2018-05-29) 78 | ------------------ 79 | * none 80 | 81 | 0.2.4 (2018-03-14) 82 | ------------------ 83 | * none 84 | 85 | 0.2.3 (2018-03-14) 86 | ------------------ 87 | * none 88 | 89 | 0.2.2 (2018-03-14) 90 | ------------------ 91 | * none 92 | 93 | 0.2.1 (2018-03-14) 94 | ------------------ 95 | * none 96 | 97 | 0.2.0 (2018-03-13) 98 | ------------------ 99 | * added TurtleBot3 Waffle Pi 100 | * Contributors: Darby Lim 101 | 102 | 0.1.7 (2017-08-16) 103 | ------------------ 104 | * none 105 | 106 | 0.1.6 (2017-08-14) 107 | ------------------ 108 | * updated rviz and add static tf publisher for depth camera 109 | * Contributors: Darby Lim 110 | 111 | 0.1.5 (2017-06-09) 112 | ------------------ 113 | * none 114 | 115 | 0.1.4 (2017-05-23) 116 | ------------------ 117 | * added as new meta-packages and version update (0.1.4) 118 | * Contributors: Darby Lim, Pyo 119 | 120 | 0.1.3 (2017-04-24) 121 | ------------------ 122 | * modified the package information for release 123 | * modified SLAM param 124 | * modified the description, authors, depend option and delete the core package 125 | * modified the turtlebot bringup files 126 | * modified pkg setting for turtlebot3_core 127 | * modified the navigation package and turtlebot3 node for demo 128 | * modified the wheel speed gain 129 | * added Intel RealSense R200 130 | * added LDS sensor 131 | * Contributors: Darby Lim, Pyo 132 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Set minimum required version of cmake, project name and compile options 3 | ################################################################################ 4 | cmake_minimum_required(VERSION 3.5) 5 | project(turtlebot3_gazebo) 6 | 7 | if(NOT CMAKE_CXX_STANDARD) 8 | set(CMAKE_CXX_STANDARD 17) 9 | endif() 10 | 11 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 12 | add_compile_options(-Wall -Wextra -Wpedantic) 13 | endif() 14 | 15 | if(MSVC) 16 | add_compile_definitions(_USE_MATH_DEFINES) 17 | endif() 18 | 19 | ################################################################################ 20 | # Find ament packages and libraries for ament and system dependencies 21 | ################################################################################ 22 | find_package(ament_cmake REQUIRED) 23 | find_package(gz_math_vendor REQUIRED) 24 | find_package(gz-math REQUIRED) 25 | find_package(gz_sim_vendor REQUIRED) 26 | find_package(gz-sim REQUIRED) 27 | find_package(gz_common_vendor REQUIRED) 28 | find_package(gz-common REQUIRED COMPONENTS graphics) 29 | find_package(geometry_msgs REQUIRED) 30 | find_package(nav_msgs REQUIRED) 31 | find_package(rclcpp REQUIRED) 32 | find_package(sensor_msgs REQUIRED) 33 | find_package(tf2 REQUIRED) 34 | 35 | ################################################################################ 36 | # Build 37 | ################################################################################ 38 | link_directories( 39 | ) 40 | 41 | include_directories( 42 | include 43 | ) 44 | 45 | set(dependencies 46 | "geometry_msgs" 47 | "nav_msgs" 48 | "rclcpp" 49 | "sensor_msgs" 50 | "tf2" 51 | ) 52 | 53 | set(EXEC_NAME "turtlebot3_drive") 54 | 55 | add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp) 56 | ament_target_dependencies(${EXEC_NAME} ${dependencies}) 57 | 58 | set(GAZEBO_LIBRARIES gz-math::gz-math gz-sim::gz-sim gz-common::graphics) 59 | add_library(obstacle1 SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc) 60 | target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES}) 61 | 62 | add_library(obstacle2 SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc) 63 | target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES}) 64 | 65 | add_library(obstacles SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc) 66 | target_link_libraries(obstacles ${GAZEBO_LIBRARIES}) 67 | 68 | ################################################################################ 69 | # Install 70 | ################################################################################ 71 | install(TARGETS ${EXEC_NAME} 72 | DESTINATION lib/${PROJECT_NAME} 73 | ) 74 | 75 | install(DIRECTORY launch models params rviz urdf worlds 76 | DESTINATION share/${PROJECT_NAME}/ 77 | ) 78 | 79 | install(DIRECTORY include/ 80 | DESTINATION include/ 81 | ) 82 | 83 | ################################################################################ 84 | # Macro for ament package 85 | ################################################################################ 86 | ament_export_include_directories(include) 87 | ament_export_dependencies(ros_gz_bridge) 88 | ament_export_dependencies(ros_gz_sim) 89 | ament_export_dependencies(geometry_msgs) 90 | ament_export_dependencies(nav_msgs) 91 | ament_export_dependencies(rclcpp) 92 | ament_export_dependencies(sensor_msgs) 93 | ament_export_dependencies(tf2) 94 | ament_package() 95 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 2017-03-30T01:06:40 4 | 2017-03-30T01:06:40 5 | 6 | Y_UP 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -28.8675 50 100 -57.735 9.66338e-13 0 -57.735 1.13687e-12 100 -28.8675 50 0 -57.735 1.13687e-12 100 -28.8675 -50 0 -28.8675 -50 100 -57.735 9.66338e-13 0 -28.8675 -50 100 28.8675 -50 0 28.8675 -50 100 -28.8675 -50 0 28.8675 -50 100 57.735 1.7053e-12 0 57.735 1.36424e-12 100 28.8675 -50 0 57.735 1.36424e-12 100 28.8675 50 2.498e-13 28.8675 50 100 57.735 1.7053e-12 0 28.8675 50 100 -28.8675 50 0 -28.8675 50 100 28.8675 50 2.498e-13 -57.735 1.13687e-12 100 57.735 1.36424e-12 100 -28.8675 50 100 -28.8675 -50 100 28.8675 -50 100 28.8675 50 100 -57.735 9.66338e-13 0 28.8675 -50 0 -28.8675 -50 0 57.735 1.7053e-12 0 -28.8675 50 0 28.8675 50 2.498e-13 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 5.51091e-16 -1 0 5.51091e-16 -1 0 5.51091e-16 -1 0 5.51091e-16 -1 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 0.5 0 0.866025 0.5 0 0.866025 0.5 0 0.866025 0.5 0 -4.28626e-16 1 0 -4.28626e-16 1 0 -4.28626e-16 1 0 -4.28626e-16 1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 |

0 1 2 1 0 3 4 5 6 5 4 7 8 9 10 9 8 11 12 13 14 13 12 15 16 17 18 17 16 19 20 21 22 21 20 23 24 25 26 24 27 28 28 25 24 26 25 29 30 31 32 31 30 33 33 34 35 33 30 34

51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 0.392157 0.976471 0.121569 1 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc: -------------------------------------------------------------------------------- 1 | // Copyright 2012 Open Source Robotics Foundation 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | // 15 | // Author: Ryan Shim 16 | 17 | #include "ObstacleAnimator.hh" 18 | 19 | #include 20 | 21 | #include 22 | #include 23 | #include 24 | 25 | namespace gazebo { 26 | class Obstacle2 : public ObstacleAnimator { 27 | public: 28 | Obstacle2() : ObstacleAnimator(CreateAnimation()) {} 29 | 30 | // create the animation 31 | gz::common::PoseAnimation CreateAnimation() { 32 | // name the animation "move_2", 33 | // make it last 260 seconds, 34 | // and set it on a repeat loop 35 | gz::common::PoseAnimation anim = gz::common::PoseAnimation("move2", 140.0, true); 36 | 37 | gz::common::PoseKeyFrame *key; 38 | 39 | // set starting location of the box 40 | key = anim.CreateKeyFrame(0); 41 | key->Translation(gz::math::Vector3d(0.0, 0.0, 0.0)); 42 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 43 | 44 | key = anim.CreateKeyFrame(10); 45 | key->Translation(gz::math::Vector3d(0.7, 0.2, 0.0)); 46 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 47 | 48 | key = anim.CreateKeyFrame(40); 49 | key->Translation(gz::math::Vector3d(2.5, 3.5, 0.0)); 50 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 51 | 52 | key = anim.CreateKeyFrame(55); 53 | key->Translation(gz::math::Vector3d(0.3, 3.5, 0.0)); 54 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 55 | 56 | key = anim.CreateKeyFrame(85); 57 | key->Translation(gz::math::Vector3d(3.5, 1.8, 0.0)); 58 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 59 | 60 | key = anim.CreateKeyFrame(100); 61 | key->Translation(gz::math::Vector3d(3.5, 0.0, 0.0)); 62 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 63 | 64 | key = anim.CreateKeyFrame(110); 65 | key->Translation(gz::math::Vector3d(2.0, 0.5, 0.0)); 66 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 67 | 68 | key = anim.CreateKeyFrame(115); 69 | key->Translation(gz::math::Vector3d(1.5, 1.0, 0.0)); 70 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 71 | 72 | key = anim.CreateKeyFrame(120); 73 | key->Translation(gz::math::Vector3d(1.0, 0.5, 0.0)); 74 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 75 | 76 | key = anim.CreateKeyFrame(125); 77 | key->Translation(gz::math::Vector3d(0.5, 0.1, 0.0)); 78 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 79 | 80 | key = anim.CreateKeyFrame(130); 81 | key->Translation(gz::math::Vector3d(0.0, 0.0, 0.0)); 82 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 83 | 84 | key = anim.CreateKeyFrame(140); 85 | key->Translation(gz::math::Vector3d(0.0, 0.0, 0.0)); 86 | key->Rotation(gz::math::Quaterniond(0, 0, 0)); 87 | 88 | return anim; 89 | } 90 | }; 91 | // Register this plugin with the simulator 92 | GZ_ADD_PLUGIN(Obstacle2, ::gz::sim::System, ::gz::sim::ISystemConfigure, 93 | ::gz::sim::ISystemPreUpdate) 94 | GZ_ADD_PLUGIN_ALIAS(Obstacle2, "obstacle2") 95 | } // namespace gazebo 96 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0 0 0 0 0 0 5 | 6 | 7 | 8 | 9 | 5 0.15 0.5 10 | 11 | 12 | 0 0 0.25 0 -0 0 13 | 14 | 15 | 0 0 0.25 0 -0 0 16 | 17 | 18 | 5 0.15 0.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | -2.425 0 0 0 -0 1.5708 30 | 31 | 32 | 33 | 34 | 35 | 5 0.15 0.5 36 | 37 | 38 | 0 0 0.25 0 -0 0 39 | 40 | 41 | 0 0 0.25 0 -0 0 42 | 43 | 44 | 5 0.15 0.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 0 2.425 0 0 -0 0 56 | 57 | 58 | 59 | 60 | 61 | 5 0.15 0.5 62 | 63 | 64 | 0 0 0.25 0 -0 0 65 | 66 | 67 | 0 0 0.25 0 -0 0 68 | 69 | 70 | 5 0.15 0.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 2.425 0 0 0 0 -1.5708 82 | 83 | 84 | 85 | 86 | 87 | 5 0.15 0.5 88 | 89 | 90 | 0 0 0.25 0 -0 0 91 | 92 | 93 | 0 0 0.25 0 -0 0 94 | 95 | 96 | 5 0.15 0.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 0 -2.425 0 0 -0 3.14159 108 | 109 | 1 110 | 111 | 112 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # TurtleBot3 2 | 3 | 4 | [![kinetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/kinetic-devel) 5 | [![melodic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/melodic-devel) 6 | [![noetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/noetic-devel) 7 | 8 | [![dashing-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/dashing-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/dashing-devel) 9 | [![foxy-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/foxy-devel) 10 | [![galactic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/galactic-devel) 11 | [![humble-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/humble-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/humble-devel) 12 | 13 | ## ROBOTIS e-Manual for TurtleBot3 14 | - [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) 15 | 16 | ## Wiki for turtlebot3_simulations Packages 17 | - http://wiki.ros.org/turtlebot3_simulations (metapackage) 18 | - http://wiki.ros.org/turtlebot3_fake 19 | - http://wiki.ros.org/turtlebot3_gazebo 20 | 21 | ## Open Source related to TurtleBot3 22 | - [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3) 23 | - [turtlebot3_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_msgs) 24 | - [turtlebot3_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_simulations) 25 | - [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs) 26 | - [turtlebot3_applications](https://github.com/ROBOTIS-GIT/turtlebot3_applications) 27 | - [turtlebot3_autorace](https://github.com/ROBOTIS-GIT/turtlebot3_autorace) 28 | - [turtlebot3_deliver](https://github.com/ROBOTIS-GIT/turtlebot3_deliver) 29 | - [hls_lfcd_lds_driver](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver) 30 | - [ld08_driver](https://github.com/ROBOTIS-GIT/ld08_driver) 31 | - [open_manipulator_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_msgs) 32 | - [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator) 33 | - [open_manipulator_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_simulations) 34 | - [open_manipulator_perceptions](https://github.com/ROBOTIS-GIT/open_manipulator_perceptions) 35 | - [open_manipulator_with_tb3_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_msgs) 36 | - [open_manipulator_with_tb3](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3) 37 | - [open_manipulator_with_tb3_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_simulations) 38 | - [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK) 39 | - [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware) 40 | - [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR) 41 | 42 | ## Documents and Videos related to TurtleBot3 43 | - [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) 44 | - [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/) 45 | - [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/) 46 | - [Website for TurtleBot Series](http://www.turtlebot.com/) 47 | - [e-Book for TurtleBot3](https://community.robotsource.org/t/download-the-ros-robot-programming-book-for-free/51/) 48 | - [Videos for TurtleBot3 ](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU) 49 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0 0 0 0 0 0 5 | 6 | 7 | -1.0 -1.0 0.25 0 0 0 8 | 9 | 10 | 0.15 11 | 0.5 12 | 13 | 14 | 10 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -1.0 -1.0 0.25 0 0 0 28 | 29 | 30 | 0.15 31 | 0.5 32 | 33 | 34 | 35 | 39 | 40 | 41 | 42 | 43 | -1.0 1.0 0.25 0 0 0 44 | 45 | 46 | 0.15 47 | 0.5 48 | 49 | 50 | 10 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -1.0 1.0 0.25 0 0 0 64 | 65 | 66 | 0.15 67 | 0.5 68 | 69 | 70 | 71 | 75 | 76 | 77 | 78 | 79 | 1.0 -1.0 0.25 0 0 0 80 | 81 | 82 | 0.15 83 | 0.5 84 | 85 | 86 | 10 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 1.0 -1.0 0.25 0 0 0 100 | 101 | 102 | 0.15 103 | 0.5 104 | 105 | 106 | 107 | 111 | 112 | 113 | 114 | 115 | 1.0 1.0 0.25 0 0 0 116 | 117 | 118 | 0.15 119 | 0.5 120 | 121 | 122 | 10 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 1.0 1.0 0.25 0 0 0 136 | 137 | 138 | 0.15 139 | 0.5 140 | 141 | 142 | 143 | 147 | 148 | 149 | 150 | 1 151 | 152 | 153 | 154 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 2017-03-30T02:35:53 4 | 2017-03-30T02:35:53 5 | 6 | Y_UP 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -400 230.94 0 -400 230.94 200 4.54747e-13 461.88 200 6.25278e-13 461.88 0 6.25278e-13 461.88 0 4.54747e-13 461.88 200 400 230.94 200 400 230.94 0 400 230.94 0 400 230.94 200 400 -230.94 200 400 -230.94 0 400 -230.94 0 400 -230.94 200 -1.7053e-13 -461.88 200 2.27374e-13 -461.88 0 2.27374e-13 -461.88 0 -1.7053e-13 -461.88 200 -400 -230.94 200 -400 -230.94 0 450 259.808 200 -3.69482e-13 519.615 200 -2.27374e-13 519.615 0 450 259.808 0 -3.69482e-13 519.615 200 -450 259.808 200 -450 259.808 0 -2.27374e-13 519.615 0 -450 259.808 200 -450 -259.808 200 -450 -259.808 0 -450 259.808 0 -450 -259.808 200 -1.13687e-13 -519.615 200 -2.27374e-13 -519.615 0 -450 -259.808 0 -1.13687e-13 -519.615 200 450 -259.808 200 450 -259.808 0 -2.27374e-13 -519.615 0 450 -259.808 0 450 259.808 200 450 259.808 0 450 -259.808 200 -400 -230.94 0 -400 -230.94 200 -400 230.94 200 -400 230.94 0 -1.7053e-13 -461.88 200 -1.13687e-13 -519.615 200 -400 -230.94 200 -450 -259.808 200 -450 259.808 200 450 -259.808 200 400 -230.94 200 400 230.94 200 4.54747e-13 461.88 200 -3.69482e-13 519.615 200 -400 230.94 200 450 259.808 200 -2.27374e-13 -519.615 0 400 -230.94 0 2.27374e-13 -461.88 0 400 230.94 0 -2.27374e-13 519.615 0 6.25278e-13 461.88 0 450 -259.808 0 450 259.808 0 -400 230.94 0 -450 259.808 0 -400 -230.94 0 -450 -259.808 0 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -0.5 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 1 0 0 1 0 0 1 0 0 1 0 0 1 1.83697e-16 0 1 1.83697e-16 0 1 1.83697e-16 0 1 1.83697e-16 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 |

0 2 1 0 3 2 4 6 5 4 7 6 8 10 9 8 11 10 12 14 13 12 15 14 16 18 17 16 19 18 20 22 21 22 20 23 24 26 25 26 24 27 28 30 29 30 28 31 32 34 33 34 32 35 36 38 37 38 36 39 40 42 41 40 41 43 44 46 45 44 47 46 48 50 49 50 52 51 53 54 49 55 57 56 48 49 54 57 52 58 58 56 57 53 59 55 57 55 59 53 55 54 49 50 51 52 50 58 60 62 61 63 65 64 63 67 66 68 69 64 66 61 63 64 67 63 60 61 66 60 70 62 69 70 71 60 71 70 64 65 68 69 68 70

51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 0.603922 0.647059 0.686275 1 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package turtlebot3_gazebo 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2.2.6 (2202-05-26) 6 | ------------------ 7 | * ROS2 Humble Hawksbill supported 8 | 9 | 2.2.5 (2021-08-25) 10 | ------------------ 11 | * Release for ROS2 Rolling 12 | * Contributors: Will Son 13 | 14 | 2.2.4 (2021-06-14) 15 | ------------------ 16 | * Release for ROS2 Galactic 17 | * Separate world and robot models(#162) 18 | * Clean up unncessary files 19 | * Use turtlebot3_common mesh modeling 20 | * Independent turtlebot3_simulations package 21 | * Contributors: Joep Tool, Will Son 22 | 23 | 2.2.3 (2021-04-12) 24 | ------------------ 25 | * Update required keyword arguments 26 | * Clear up exec_depend 27 | * Fix Waffle Pi wheel inertia 28 | * Contributors: ruffsl, Will Son 29 | 30 | 2.2.2 (2021-02-24) 31 | ------------------ 32 | * Remove shared objects built in older version 33 | * Contributors: Will Son 34 | 35 | 2.2.1 (2021-01-13) 36 | ------------------ 37 | * Eloquent Elusor EOL 38 | * Add missing imu joint in sdf 39 | * Append Gazebo model path 40 | * Portable fix, launch description revise 41 | * Ament lint applied 42 | * Contributors: minwoominwoominwoo7, Rayman, seanyen, ashe kim, Will Son 43 | 44 | 2.2.0 (2020-06-29) 45 | ------------------ 46 | * TurtleBot3 Drive node implementation 47 | * Additional Gazebo maps added 48 | * argument tags in the sdf file replaced with remapping tags 49 | * Low polygon 3D modeling applied for simulation 50 | * Contributors: Ryan Shim, Mikael Arguedas, Will Son 51 | 52 | 2.1.0 (2019-09-10) 53 | ------------------ 54 | * Added turtlebot3_house and related world, model files 55 | * Contributors: Ryan Shim 56 | 57 | 2.0.1 (2019-09-05) 58 | ------------------ 59 | * Modified dependency packages 60 | * Modified launch directory 61 | * Added a launch file for robot state publisher 62 | * Contributors: Darby Lim, Pyo 63 | 64 | 2.0.0 (2019-08-20) 65 | ------------------ 66 | * Supported ROS 2 Dashing Diademata 67 | * Updated the CHANGELOG and version to release binary packages 68 | * Contributors: Darby Lim, Pyo 69 | 70 | 1.3.0 (2020-06-29) 71 | ------------------ 72 | * Turtlebot3 Autorace 2020 implemented 73 | * Remove the plugin_path from gazebo_ros export 74 | * Remove *nix path separator 75 | * Contributors: Ashe Kim, Ben Wolsieffer, Sean Yen 76 | 77 | 1.2.0 (2019-01-22) 78 | ------------------ 79 | * moved into `#65 `_ 80 | * modified ML stage 81 | * delete unused param 82 | * update algorithm and modified variable more clearly 83 | * Contributors: Darby Lim, Gilbert, Louise Poubel, Pyo 84 | 85 | 1.1.0 (2018-07-20) 86 | ------------------ 87 | * modified uri path 88 | * modified autorace 89 | * delete remap 90 | * Contributors: Darby Lim, Gilbert, Pyo 91 | 92 | 1.0.2 (2018-06-01) 93 | ------------------ 94 | * added mission.launch modified model.sdf 95 | * deleted turtlebot3's gazebo plugins 96 | * modified autorace gazebo 97 | * merged pull request `#53 `_ `#52 `_ `#51 `_ `#50 `_ `#49 `_ 98 | * Contributors: Gilbert, Darby Lim, Pyo 99 | 100 | 1.0.1 (2018-05-30) 101 | ------------------ 102 | * resolving dependency issues: 103 | http://build.ros.org/job/Kbin_dj_dJ64__turtlebot3_gazebo__debian_jessie_amd64__binary/2/ 104 | * Contributors: Pyo 105 | 106 | 1.0.0 (2018-05-29) 107 | ------------------ 108 | * added world for turtlebot3_autorace 109 | * added world for turtlebot3_machine_learning 110 | * merged pull request `#46 `_ from AuTURBO/develop 111 | add turtlebot3_autorace world' 112 | * merged pull request `#48 `_ `#47 `_ `#44 `_ `#42 `_ `#41 `_ 113 | * Contributors: Darby Lim, Gilbert, hyunoklee, Pyo 114 | 115 | 0.2.4 (2018-03-14) 116 | ------------------ 117 | * none 118 | 119 | 0.2.3 (2018-03-14) 120 | ------------------ 121 | * solved DuplicateVersionsException error 122 | * Contributors: Pyo 123 | 124 | 0.2.2 (2018-03-14) 125 | ------------------ 126 | * none 127 | 128 | 0.2.1 (2018-03-14) 129 | ------------------ 130 | * added worlds for gazebo and turtlebot3 131 | * Contributors: Darby Lim 132 | 133 | 0.2.0 (2018-03-13) 134 | ------------------ 135 | * added slam with multiple tb3 136 | * added multi example 137 | * added turtlebot3_house 138 | * modified cmake file 139 | * modified spwn model name 140 | * modified multi slam param 141 | * modified camera position 142 | * modified folder name 143 | * Contributors: Darby Lim 144 | 145 | 0.1.7 (2017-08-16) 146 | ------------------ 147 | * renamed missed the install rule (worlds -> models) 148 | * Contributors: Darby Lim, Tully Foote 149 | 150 | 0.1.6 (2017-08-14) 151 | ------------------ 152 | * modified folder name and model path 153 | * updated rviz and add static tf publisher for depth camera 154 | * Contributors: Darby Lim 155 | 156 | 0.1.5 (2017-06-09) 157 | ------------------ 158 | * modified make files for dependencies 159 | * updated turtlebot3 sim 160 | * updated world config 161 | * Contributors: Darby Lim 162 | 163 | 0.1.4 (2017-05-23) 164 | ------------------ 165 | * added as new meta-packages and version update (0.1.4) 166 | * Contributors: Darby Lim, Pyo 167 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/src/turtlebot3_drive.cpp: -------------------------------------------------------------------------------- 1 | // Copyright 2019 ROBOTIS CO., LTD. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | // 15 | // Authors: Taehun Lim (Darby), Ryan Shim 16 | 17 | #include "turtlebot3_gazebo/turtlebot3_drive.hpp" 18 | 19 | #include 20 | 21 | using namespace std::chrono_literals; 22 | 23 | Turtlebot3Drive::Turtlebot3Drive() 24 | : Node("turtlebot3_drive_node") 25 | { 26 | /************************************************************ 27 | ** Initialise variables 28 | ************************************************************/ 29 | scan_data_[0] = 0.0; 30 | scan_data_[1] = 0.0; 31 | scan_data_[2] = 0.0; 32 | 33 | robot_pose_ = 0.0; 34 | prev_robot_pose_ = 0.0; 35 | 36 | /************************************************************ 37 | ** Initialise ROS publishers and subscribers 38 | ************************************************************/ 39 | auto qos = rclcpp::QoS(rclcpp::KeepLast(10)); 40 | 41 | // Initialise publishers 42 | cmd_vel_pub_ = this->create_publisher("cmd_vel", qos); 43 | 44 | // Initialise subscribers 45 | scan_sub_ = this->create_subscription( 46 | "scan", \ 47 | rclcpp::SensorDataQoS(), \ 48 | std::bind( 49 | &Turtlebot3Drive::scan_callback, \ 50 | this, \ 51 | std::placeholders::_1)); 52 | odom_sub_ = this->create_subscription( 53 | "odom", qos, std::bind(&Turtlebot3Drive::odom_callback, this, std::placeholders::_1)); 54 | 55 | /************************************************************ 56 | ** Initialise ROS timers 57 | ************************************************************/ 58 | update_timer_ = this->create_wall_timer(10ms, std::bind(&Turtlebot3Drive::update_callback, this)); 59 | 60 | RCLCPP_INFO(this->get_logger(), "Turtlebot3 simulation node has been initialised"); 61 | } 62 | 63 | Turtlebot3Drive::~Turtlebot3Drive() 64 | { 65 | RCLCPP_INFO(this->get_logger(), "Turtlebot3 simulation node has been terminated"); 66 | } 67 | 68 | /******************************************************************************** 69 | ** Callback functions for ROS subscribers 70 | ********************************************************************************/ 71 | void Turtlebot3Drive::odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) 72 | { 73 | tf2::Quaternion q( 74 | msg->pose.pose.orientation.x, 75 | msg->pose.pose.orientation.y, 76 | msg->pose.pose.orientation.z, 77 | msg->pose.pose.orientation.w); 78 | tf2::Matrix3x3 m(q); 79 | double roll, pitch, yaw; 80 | m.getRPY(roll, pitch, yaw); 81 | 82 | robot_pose_ = yaw; 83 | } 84 | 85 | void Turtlebot3Drive::scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg) 86 | { 87 | uint16_t scan_angle[3] = {0, 30, 330}; 88 | 89 | for (int num = 0; num < 3; num++) { 90 | if (std::isinf(msg->ranges.at(scan_angle[num]))) { 91 | scan_data_[num] = msg->range_max; 92 | } else { 93 | scan_data_[num] = msg->ranges.at(scan_angle[num]); 94 | } 95 | } 96 | } 97 | 98 | void Turtlebot3Drive::update_cmd_vel(double linear, double angular) 99 | { 100 | geometry_msgs::msg::Twist cmd_vel; 101 | cmd_vel.linear.x = linear; 102 | cmd_vel.angular.z = angular; 103 | 104 | cmd_vel_pub_->publish(cmd_vel); 105 | } 106 | 107 | /******************************************************************************** 108 | ** Update functions 109 | ********************************************************************************/ 110 | void Turtlebot3Drive::update_callback() 111 | { 112 | static uint8_t turtlebot3_state_num = 0; 113 | double escape_range = 30.0 * DEG2RAD; 114 | double check_forward_dist = 0.7; 115 | double check_side_dist = 0.6; 116 | 117 | switch (turtlebot3_state_num) { 118 | case GET_TB3_DIRECTION: 119 | if (scan_data_[CENTER] > check_forward_dist) { 120 | if (scan_data_[LEFT] < check_side_dist) { 121 | prev_robot_pose_ = robot_pose_; 122 | turtlebot3_state_num = TB3_RIGHT_TURN; 123 | } else if (scan_data_[RIGHT] < check_side_dist) { 124 | prev_robot_pose_ = robot_pose_; 125 | turtlebot3_state_num = TB3_LEFT_TURN; 126 | } else { 127 | turtlebot3_state_num = TB3_DRIVE_FORWARD; 128 | } 129 | } 130 | 131 | if (scan_data_[CENTER] < check_forward_dist) { 132 | prev_robot_pose_ = robot_pose_; 133 | turtlebot3_state_num = TB3_RIGHT_TURN; 134 | } 135 | break; 136 | 137 | case TB3_DRIVE_FORWARD: 138 | update_cmd_vel(LINEAR_VELOCITY, 0.0); 139 | turtlebot3_state_num = GET_TB3_DIRECTION; 140 | break; 141 | 142 | case TB3_RIGHT_TURN: 143 | if (fabs(prev_robot_pose_ - robot_pose_) >= escape_range) { 144 | turtlebot3_state_num = GET_TB3_DIRECTION; 145 | } else { 146 | update_cmd_vel(0.0, -1 * ANGULAR_VELOCITY); 147 | } 148 | break; 149 | 150 | case TB3_LEFT_TURN: 151 | if (fabs(prev_robot_pose_ - robot_pose_) >= escape_range) { 152 | turtlebot3_state_num = GET_TB3_DIRECTION; 153 | } else { 154 | update_cmd_vel(0.0, ANGULAR_VELOCITY); 155 | } 156 | break; 157 | 158 | default: 159 | turtlebot3_state_num = GET_TB3_DIRECTION; 160 | break; 161 | } 162 | } 163 | 164 | /******************************************************************************* 165 | ** Main 166 | *******************************************************************************/ 167 | int main(int argc, char ** argv) 168 | { 169 | rclcpp::init(argc, argv); 170 | rclcpp::spin(std::make_shared()); 171 | rclcpp::shutdown(); 172 | 173 | return 0; 174 | } 175 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/urdf/turtlebot3_burger.urdf: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0 0 0 0 0 0 5 | 6 | 7 | 8 | 9 | 1 0.15 0.5 10 | 11 | 12 | 0 0 0.25 0 -0 0 13 | 14 | 15 | 0 0 0.25 0 -0 0 16 | 17 | 18 | 1 0.15 0.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | -2.0 -1.5 0 0 -0 0 30 | 31 | 32 | 33 | 34 | 35 | 1 0.15 0.5 36 | 37 | 38 | 0 0 0.25 0 -0 0 39 | 40 | 41 | 0 0 0.25 0 -0 0 42 | 43 | 44 | 1 0.15 0.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | -0.5 -2.0 0 0 0 -1.5708 56 | 57 | 58 | 59 | 60 | 61 | 1 0.15 0.5 62 | 63 | 64 | 0 0 0.25 0 -0 0 65 | 66 | 67 | 0 0 0.25 0 -0 0 68 | 69 | 70 | 1 0.15 0.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 1.0 -1.0 0 0 -0 1.5708 82 | 83 | 84 | 85 | 86 | 87 | 1 0.15 0.5 88 | 89 | 90 | 0 0 0.25 0 -0 0 91 | 92 | 93 | 0 0 0.25 0 -0 0 94 | 95 | 96 | 1 0.15 0.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 1.2 1.9 0 0 0 -1.5708 108 | 109 | 110 | 111 | 112 | 113 | 1 0.15 0.5 114 | 115 | 116 | 0 0 0.25 0 -0 0 117 | 118 | 119 | 0 0 0.25 0 -0 0 120 | 121 | 122 | 1 0.15 0.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | 1.9 0.4 0 0 -0 0 134 | 135 | 136 | 137 | 138 | 139 | 1 0.15 0.5 140 | 141 | 142 | 0 0 0.25 0 -0 0 143 | 144 | 145 | 0 0 0.25 0 -0 0 146 | 147 | 148 | 1 0.15 0.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | -0.5 1.5 0 0 -0 0 160 | 161 | 162 | 163 | 164 | 165 | 1 0.15 0.5 166 | 167 | 168 | 0 0 0.25 0 -0 0 169 | 170 | 171 | 0 0 0.25 0 -0 0 172 | 173 | 174 | 1 0.15 0.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | -1.2 0.092 0 0 0 -1.5708 186 | 187 | 1 188 | 189 | 190 | -------------------------------------------------------------------------------- /turtlebot3_simulations/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package turtlebot3_simulations 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2.2.6 (2202-05-26) 6 | ------------------ 7 | * ROS2 Humble Hawksbill supported 8 | 9 | 2.2.5 (2021-08-25) 10 | ------------------ 11 | * Release for ROS2 Rolling 12 | * Contributors: Will Son 13 | 14 | 2.2.4 (2021-06-14) 15 | ------------------ 16 | * Release for ROS2 Galactic 17 | * Separate world and robot models(#162) 18 | * Clean up unncessary files 19 | * Use turtlebot3_common mesh modeling 20 | * Independent turtlebot3_simulations package 21 | * Contributors: Joep Tool, Will Son 22 | 23 | 2.2.3 (2021-04-12) 24 | ------------------ 25 | * Update required keyword arguments 26 | * Clear up exec_depend 27 | * Fix Waffle Pi wheel inertia 28 | * Contributors: ruffsl, Will Son 29 | 30 | 2.2.2 (2021-02-24) 31 | ------------------ 32 | * Remove shared objects built in older version 33 | * Contributors: Will Son 34 | 35 | 2.2.1 (2021-01-13) 36 | ------------------ 37 | * Eloquent Elusor EOL 38 | * Add missing imu joint in sdf 39 | * Append Gazebo model path 40 | * Portable fix, launch description revise 41 | * Ament lint applied 42 | * Contributors: minwoominwoominwoo7, Rayman, seanyen, ashe kim, Will Son 43 | 44 | 2.2.0 (2020-06-29) 45 | ------------------ 46 | * TurtleBot3 Drive node implementation 47 | * Additional Gazebo maps added 48 | * argument tags in the sdf file replaced with remapping tags 49 | * Low polygon 3D modeling applied for simulation 50 | * Contributors: Ryan Shim, Mikael Arguedas, Will Son 51 | 52 | 2.1.0 (2019-09-10) 53 | ------------------ 54 | * ROS 2 migration of turtlebot3_fake_node package 55 | * Modified rviz config (background colour changed to white, tf display disabled) 56 | * Added turtlebot3_house and related world, model files 57 | * Contributors: Ryan Shim, Darby Lim, Pyo 58 | 59 | 2.0.1 (2019-09-05) 60 | ------------------ 61 | * Modified dependency packages 62 | * Modified launch directory 63 | * Added a launch file for robot state publisher 64 | * Contributors: Darby Lim, Pyo 65 | 66 | 2.0.0 (2019-08-20) 67 | ------------------ 68 | * Supported ROS 2 Dashing Diademata 69 | * Updated the CHANGELOG and version to release binary packages 70 | * Contributors: Darby Lim, Pyo 71 | 72 | 1.3.0 (2020-06-29) 73 | ------------------ 74 | * Turtlebot3 Autorace 2020 implemented 75 | * Remove the plugin_path from gazebo_ros export 76 | * Remove *nix path separator 77 | * Contributors: Ashe Kim, Ben Wolsieffer, Sean Yen 78 | 79 | 1.2.0 (2019-01-22) 80 | ------------------ 81 | * move out the init() from ROS_ASSERT `#68 `_ 82 | * moved into `#65 `_ 83 | * modified ML stage 84 | * delete unused param 85 | * update algorithm and modified variable more clearly 86 | * Contributors: Darby Lim, Gilbert, Louise Poubel, Pyo 87 | 88 | 1.1.0 (2018-07-20) 89 | ------------------ 90 | * added TurtleBot3 Waffle Pi 91 | * modified uri path 92 | * modified autorace 93 | * delete remap 94 | * Contributors: Darby Lim, Gilbert, Pyo 95 | 96 | 1.0.2 (2018-06-01) 97 | ------------------ 98 | * added mission.launch modified model.sdf 99 | * deleted turtlebot3's gazebo plugins 100 | * modified autorace gazebo 101 | * merged pull request `#53 `_ `#52 `_ `#51 `_ `#50 `_ `#49 `_ 102 | * Contributors: Gilbert, Darby Lim, Pyo 103 | 104 | 1.0.1 (2018-05-30) 105 | ------------------ 106 | * resolving dependency issues: 107 | http://build.ros.org/job/Kbin_dj_dJ64__turtlebot3_gazebo__debian_jessie_amd64__binary/2/ 108 | * Contributors: Pyo 109 | 110 | 1.0.0 (2018-05-29) 111 | ------------------ 112 | * added world for turtlebot3_autorace 113 | * added world for turtlebot3_machine_learning 114 | * merged pull request `#46 `_ from AuTURBO/develop 115 | add turtlebot3_autorace world' 116 | * merged pull request `#48 `_ `#47 `_ `#44 `_ `#42 `_ `#41 `_ 117 | * Contributors: Darby Lim, Gilbert, hyunoklee, Pyo 118 | 119 | 0.2.4 (2018-03-14) 120 | ------------------ 121 | * solved DuplicateVersionsException error 122 | * Contributors: Pyo 123 | 124 | 0.2.3 (2018-03-14) 125 | ------------------ 126 | * solved DuplicateVersionsException error 127 | * Contributors: Pyo 128 | 129 | 0.2.2 (2018-03-14) 130 | ------------------ 131 | * added line feed into metapackage 132 | * Contributors: Pyo 133 | 134 | 0.2.1 (2018-03-14) 135 | ------------------ 136 | * added worlds for gazebo and turtlebot3 137 | * deleted turtlebot3_gazebo_plugin and merged into turtlebot3_gazebo_ros package 138 | * Contributors: Darby Lim 139 | 140 | 0.2.0 (2018-03-13) 141 | ------------------ 142 | * added TurtleBot3 Waffle Pi 143 | * added slam with multiple tb3 144 | * added multi example 145 | * added turtlebot3_house 146 | * added turtlebot3_house 147 | * added msg function 148 | * modified gazebo plugin 149 | * modified tb3 control 150 | * modified sensor param 151 | * modified camera position 152 | * modified image_listener 153 | * modified cmake file 154 | * modified spwn model name 155 | * modified multi slam param 156 | * modified camera position 157 | * modified folder name 158 | * Contributors: Darby Lim 159 | 160 | 0.1.7 (2017-08-16) 161 | ------------------ 162 | * renamed missed the install rule (worlds -> models) 163 | * Contributors: Darby Lim, Tully Foote 164 | 165 | 0.1.6 (2017-08-14) 166 | ------------------ 167 | * modified folder name and model path 168 | * updated rviz and add static tf publisher for depth camera 169 | * Contributors: Darby Lim 170 | 171 | 0.1.5 (2017-06-09) 172 | ------------------ 173 | * modified make files for dependencies 174 | * updated turtlebot3 sim 175 | * updated world config 176 | * Contributors: Darby Lim 177 | 178 | 0.1.4 (2017-05-23) 179 | ------------------ 180 | * added as new meta-packages and version update (0.1.4) 181 | * Contributors: Darby Lim, Pyo 182 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | -------------------------------------------------------------------------------- /turtlebot3_fake_node/src/turtlebot3_fake_node.cpp: -------------------------------------------------------------------------------- 1 | // Copyright 2019 ROBOTIS CO., LTD. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | // 15 | // Authors: Yoonseok Pyo, Ryan Shim 16 | 17 | #include "turtlebot3_fake_node/turtlebot3_fake_node.hpp" 18 | 19 | #include 20 | #include 21 | 22 | using namespace std::chrono_literals; 23 | 24 | Turtlebot3Fake::Turtlebot3Fake() 25 | : Node("turtlebot3_fake_node") 26 | { 27 | /************************************************************ 28 | ** Initialise ROS parameters 29 | ************************************************************/ 30 | init_parameters(); 31 | 32 | /************************************************************ 33 | ** Initialise variables 34 | ************************************************************/ 35 | init_variables(); 36 | 37 | /************************************************************ 38 | ** Initialise ROS publishers and subscribers 39 | ************************************************************/ 40 | auto qos = rclcpp::QoS(rclcpp::KeepLast(10)); 41 | 42 | // Initialise publishers 43 | odom_pub_ = this->create_publisher("odom", qos); 44 | joint_states_pub_ = this->create_publisher("joint_states", qos); 45 | tf_pub_ = this->create_publisher("tf", qos); 46 | 47 | // Initialise subscribers 48 | cmd_vel_sub_ = this->create_subscription( 49 | "cmd_vel", \ 50 | qos, \ 51 | std::bind( 52 | &Turtlebot3Fake::command_velocity_callback, \ 53 | this, \ 54 | std::placeholders::_1)); 55 | 56 | /************************************************************ 57 | ** initialise ROS timers 58 | ************************************************************/ 59 | update_timer_ = this->create_wall_timer(10ms, std::bind(&Turtlebot3Fake::update_callback, this)); 60 | 61 | RCLCPP_INFO(this->get_logger(), "Turtlebot3 fake node has been initialised"); 62 | } 63 | 64 | Turtlebot3Fake::~Turtlebot3Fake() 65 | { 66 | RCLCPP_INFO(this->get_logger(), "Turtlebot3 fake node has been terminated"); 67 | } 68 | 69 | /******************************************************************************** 70 | ** Init functions 71 | ********************************************************************************/ 72 | void Turtlebot3Fake::init_parameters() 73 | { 74 | // Declare parameters that may be set on this node 75 | this->declare_parameter("joint_states_frame"); 76 | this->declare_parameter("odom_frame"); 77 | this->declare_parameter("base_frame"); 78 | this->declare_parameter("wheels.separation"); 79 | this->declare_parameter("wheels.radius"); 80 | 81 | // Get parameters from yaml 82 | this->get_parameter_or( 83 | "joint_states_frame", \ 84 | joint_states_.header.frame_id, \ 85 | "base_footprint"); 86 | this->get_parameter_or("odom_frame", odom_.header.frame_id, "odom"); 87 | this->get_parameter_or("base_frame", odom_.child_frame_id, "base_footprint"); 88 | this->get_parameter_or("wheels.separation", wheel_seperation_, 0.0); 89 | this->get_parameter_or("wheels.radius", wheel_radius_, 0.0); 90 | } 91 | 92 | void Turtlebot3Fake::init_variables() 93 | { 94 | // Initialise variables 95 | wheel_speed_cmd_[LEFT] = 0.0; 96 | wheel_speed_cmd_[RIGHT] = 0.0; 97 | goal_linear_velocity_ = 0.0; 98 | goal_angular_velocity_ = 0.0; 99 | cmd_vel_timeout_ = 1.0; 100 | last_position_[LEFT] = 0.0; 101 | last_position_[RIGHT] = 0.0; 102 | last_velocity_[LEFT] = 0.0; 103 | last_velocity_[RIGHT] = 0.0; 104 | 105 | // TODO(Will Son): Find more accurate covariance 106 | // double pcov[36] = { 0.1, 0, 0, 0, 0, 0, 107 | // 0, 0.1, 0, 0, 0, 0, 108 | // 0, 0, 1e6, 0, 0, 0, 109 | // 0, 0, 0, 1e6, 0, 0, 110 | // 0, 0, 0, 0, 1e6, 0, 111 | // 0, 0, 0, 0, 0, 0.2}; 112 | // memcpy(&(odom_.pose.covariance), pcov, sizeof(double)*36); 113 | // memcpy(&(odom_.twist.covariance), pcov, sizeof(double)*36); 114 | 115 | odom_pose_[0] = 0.0; 116 | odom_pose_[1] = 0.0; 117 | odom_pose_[2] = 0.0; 118 | odom_vel_[0] = 0.0; 119 | odom_vel_[1] = 0.0; 120 | odom_vel_[2] = 0.0; 121 | 122 | joint_states_.name.push_back("wheel_left_joint"); 123 | joint_states_.name.push_back("wheel_right_joint"); 124 | joint_states_.position.resize(2, 0.0); 125 | joint_states_.velocity.resize(2, 0.0); 126 | joint_states_.effort.resize(2, 0.0); 127 | 128 | prev_update_time_ = this->now(); 129 | last_cmd_vel_time_ = this->now(); 130 | } 131 | 132 | /******************************************************************************** 133 | ** Callback functions for ROS subscribers 134 | ********************************************************************************/ 135 | void Turtlebot3Fake::command_velocity_callback( 136 | const geometry_msgs::msg::Twist::SharedPtr cmd_vel_msg) 137 | { 138 | last_cmd_vel_time_ = this->now(); 139 | 140 | goal_linear_velocity_ = cmd_vel_msg->linear.x; 141 | goal_angular_velocity_ = cmd_vel_msg->angular.z; 142 | 143 | wheel_speed_cmd_[LEFT] = goal_linear_velocity_ - (goal_angular_velocity_ * wheel_seperation_ / 2); 144 | wheel_speed_cmd_[RIGHT] = goal_linear_velocity_ + \ 145 | (goal_angular_velocity_ * wheel_seperation_ / 2); 146 | } 147 | 148 | /******************************************************************************** 149 | ** Update functions 150 | ********************************************************************************/ 151 | void Turtlebot3Fake::update_callback() 152 | { 153 | rclcpp::Time time_now = this->now(); 154 | rclcpp::Duration duration(time_now - prev_update_time_); 155 | prev_update_time_ = time_now; 156 | 157 | // zero-ing after timeout (stop the robot if no cmd_vel) 158 | if ((time_now - last_cmd_vel_time_).nanoseconds() / 1e9 > cmd_vel_timeout_) { 159 | wheel_speed_cmd_[LEFT] = 0.0; 160 | wheel_speed_cmd_[RIGHT] = 0.0; 161 | } 162 | 163 | // odom 164 | update_odometry(duration); 165 | odom_.header.stamp = time_now; 166 | odom_pub_->publish(odom_); 167 | 168 | // joint_states 169 | update_joint_state(); 170 | joint_states_.header.stamp = time_now; 171 | joint_states_pub_->publish(joint_states_); 172 | 173 | // tf 174 | geometry_msgs::msg::TransformStamped odom_tf; 175 | update_tf(odom_tf); 176 | tf2_msgs::msg::TFMessage odom_tf_msg; 177 | odom_tf_msg.transforms.push_back(odom_tf); 178 | tf_pub_->publish(odom_tf_msg); 179 | } 180 | 181 | bool Turtlebot3Fake::update_odometry(const rclcpp::Duration & duration) 182 | { 183 | double wheel_l, wheel_r; // rotation value of wheel [rad] 184 | double delta_s, delta_theta; 185 | double v[2], w[2]; 186 | double step_time = duration.nanoseconds() / 1e9; // [sec] 187 | 188 | wheel_l = wheel_r = 0.0; 189 | delta_s = delta_theta = 0.0; 190 | 191 | // v = translational velocity [m/s] 192 | // w = rotational velocity [rad/s] 193 | v[LEFT] = wheel_speed_cmd_[LEFT]; 194 | w[LEFT] = v[LEFT] / wheel_radius_; // w = v / r 195 | v[RIGHT] = wheel_speed_cmd_[RIGHT]; 196 | w[RIGHT] = v[RIGHT] / wheel_radius_; 197 | 198 | last_velocity_[LEFT] = w[LEFT]; 199 | last_velocity_[RIGHT] = w[RIGHT]; 200 | 201 | wheel_l = w[LEFT] * step_time; 202 | wheel_r = w[RIGHT] * step_time; 203 | 204 | if (isnan(wheel_l)) { 205 | wheel_l = 0.0; 206 | } 207 | 208 | if (isnan(wheel_r)) { 209 | wheel_r = 0.0; 210 | } 211 | 212 | last_position_[LEFT] += wheel_l; 213 | last_position_[RIGHT] += wheel_r; 214 | 215 | delta_s = wheel_radius_ * (wheel_r + wheel_l) / 2.0; 216 | delta_theta = wheel_radius_ * (wheel_r - wheel_l) / wheel_seperation_; 217 | 218 | // compute odometric pose 219 | odom_pose_[0] += delta_s * cos(odom_pose_[2] + (delta_theta / 2.0)); 220 | odom_pose_[1] += delta_s * sin(odom_pose_[2] + (delta_theta / 2.0)); 221 | odom_pose_[2] += delta_theta; 222 | 223 | // compute odometric instantaneouse velocity 224 | odom_vel_[0] = delta_s / step_time; // v 225 | odom_vel_[1] = 0.0; 226 | odom_vel_[2] = delta_theta / step_time; // w 227 | 228 | odom_.pose.pose.position.x = odom_pose_[0]; 229 | odom_.pose.pose.position.y = odom_pose_[1]; 230 | odom_.pose.pose.position.z = 0; 231 | 232 | tf2::Quaternion q; 233 | q.setRPY(0, 0, odom_pose_[2]); 234 | 235 | odom_.pose.pose.orientation.x = q.x(); 236 | odom_.pose.pose.orientation.y = q.y(); 237 | odom_.pose.pose.orientation.z = q.z(); 238 | odom_.pose.pose.orientation.w = q.w(); 239 | 240 | // We should update the twist of the odometry 241 | odom_.twist.twist.linear.x = odom_vel_[0]; 242 | odom_.twist.twist.angular.z = odom_vel_[2]; 243 | 244 | return true; 245 | } 246 | 247 | void Turtlebot3Fake::update_joint_state() 248 | { 249 | joint_states_.position[LEFT] = last_position_[LEFT]; 250 | joint_states_.position[RIGHT] = last_position_[RIGHT]; 251 | joint_states_.velocity[LEFT] = last_velocity_[LEFT]; 252 | joint_states_.velocity[RIGHT] = last_velocity_[RIGHT]; 253 | } 254 | 255 | void Turtlebot3Fake::update_tf(geometry_msgs::msg::TransformStamped & odom_tf) 256 | { 257 | odom_tf.header = odom_.header; 258 | odom_tf.child_frame_id = odom_.child_frame_id; 259 | odom_tf.transform.translation.x = odom_.pose.pose.position.x; 260 | odom_tf.transform.translation.y = odom_.pose.pose.position.y; 261 | odom_tf.transform.translation.z = odom_.pose.pose.position.z; 262 | odom_tf.transform.rotation = odom_.pose.pose.orientation; 263 | } 264 | 265 | /***************************************************************************** 266 | ** Main 267 | *****************************************************************************/ 268 | int main(int argc, char ** argv) 269 | { 270 | rclcpp::init(argc, argv); 271 | rclcpp::spin(std::make_shared()); 272 | rclcpp::shutdown(); 273 | 274 | return 0; 275 | } 276 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/rviz/tb3_gazebo.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz_common/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /TF1/Frames1 8 | Splitter Ratio: 0.5 9 | Tree Height: 694 10 | - Class: rviz_common/Selection 11 | Name: Selection 12 | - Class: rviz_common/Tool Properties 13 | Expanded: 14 | - /Publish Point1 15 | Name: Tool Properties 16 | Splitter Ratio: 0.5886790156364441 17 | - Class: rviz_common/Views 18 | Expanded: 19 | - /Current View1 20 | Name: Views 21 | Splitter Ratio: 0.5 22 | Visualization Manager: 23 | Class: "" 24 | Displays: 25 | - Alpha: 0.5 26 | Cell Size: 1 27 | Class: rviz_default_plugins/Grid 28 | Color: 160; 160; 164 29 | Enabled: true 30 | Line Style: 31 | Line Width: 0.029999999329447746 32 | Value: Lines 33 | Name: Grid 34 | Normal Cell Count: 0 35 | Offset: 36 | X: 0 37 | Y: 0 38 | Z: 0 39 | Plane: XY 40 | Plane Cell Count: 10 41 | Reference Frame: 42 | Value: true 43 | - Class: rviz_default_plugins/TF 44 | Enabled: true 45 | Frame Timeout: 15 46 | Frames: 47 | All Enabled: true 48 | base_footprint: 49 | Value: true 50 | base_link: 51 | Value: true 52 | base_scan: 53 | Value: true 54 | camera_link: 55 | Value: true 56 | camera_rgb_frame: 57 | Value: true 58 | camera_rgb_optical_frame: 59 | Value: true 60 | caster_back_left_link: 61 | Value: true 62 | caster_back_right_link: 63 | Value: true 64 | imu_link: 65 | Value: true 66 | odom: 67 | Value: true 68 | wheel_left_link: 69 | Value: true 70 | wheel_right_link: 71 | Value: true 72 | Marker Scale: 0.699999988079071 73 | Name: TF 74 | Show Arrows: true 75 | Show Axes: true 76 | Show Names: true 77 | Tree: 78 | odom: 79 | base_footprint: 80 | base_link: 81 | base_scan: 82 | {} 83 | camera_link: 84 | camera_rgb_frame: 85 | camera_rgb_optical_frame: 86 | {} 87 | caster_back_left_link: 88 | {} 89 | caster_back_right_link: 90 | {} 91 | imu_link: 92 | {} 93 | wheel_left_link: 94 | {} 95 | wheel_right_link: 96 | {} 97 | Update Interval: 0 98 | Value: true 99 | - Alpha: 1 100 | Autocompute Intensity Bounds: true 101 | Autocompute Value Bounds: 102 | Max Value: 10 103 | Min Value: -10 104 | Value: true 105 | Axis: Z 106 | Channel Name: intensity 107 | Class: rviz_default_plugins/LaserScan 108 | Color: 255; 255; 255 109 | Color Transformer: Intensity 110 | Decay Time: 0 111 | Enabled: true 112 | Invert Rainbow: false 113 | Max Color: 255; 255; 255 114 | Max Intensity: 0 115 | Min Color: 0; 0; 0 116 | Min Intensity: 0 117 | Name: LaserScan 118 | Position Transformer: XYZ 119 | Selectable: true 120 | Size (Pixels): 3 121 | Size (m): 0.019999999552965164 122 | Style: Flat Squares 123 | Topic: 124 | Depth: 5 125 | Durability Policy: Volatile 126 | Filter size: 10 127 | History Policy: Keep Last 128 | Reliability Policy: Reliable 129 | Value: /scan 130 | Use Fixed Frame: true 131 | Use rainbow: true 132 | Value: true 133 | - Angle Tolerance: 0.10000000149011612 134 | Class: rviz_default_plugins/Odometry 135 | Covariance: 136 | Orientation: 137 | Alpha: 0.5 138 | Color: 255; 255; 127 139 | Color Style: Unique 140 | Frame: Local 141 | Offset: 1 142 | Scale: 1 143 | Value: true 144 | Position: 145 | Alpha: 0.30000001192092896 146 | Color: 204; 51; 204 147 | Scale: 1 148 | Value: true 149 | Value: false 150 | Enabled: true 151 | Keep: 100 152 | Name: Odometry 153 | Position Tolerance: 0.10000000149011612 154 | Shape: 155 | Alpha: 1 156 | Axes Length: 1 157 | Axes Radius: 0.10000000149011612 158 | Color: 255; 25; 0 159 | Head Length: 0.30000001192092896 160 | Head Radius: 0.10000000149011612 161 | Shaft Length: 1 162 | Shaft Radius: 0.05000000074505806 163 | Value: Arrow 164 | Topic: 165 | Depth: 5 166 | Durability Policy: Volatile 167 | Filter size: 10 168 | History Policy: Keep Last 169 | Reliability Policy: Reliable 170 | Value: /odom 171 | Value: true 172 | - Alpha: 1 173 | Class: rviz_default_plugins/RobotModel 174 | Collision Enabled: false 175 | Description File: "" 176 | Description Source: Topic 177 | Description Topic: 178 | Depth: 5 179 | Durability Policy: Volatile 180 | History Policy: Keep Last 181 | Reliability Policy: Reliable 182 | Value: robot_description 183 | Enabled: true 184 | Links: 185 | All Links Enabled: true 186 | Expand Joint Details: false 187 | Expand Link Details: false 188 | Expand Tree: false 189 | Link Tree Style: Links in Alphabetic Order 190 | base_footprint: 191 | Alpha: 1 192 | Show Axes: false 193 | Show Trail: false 194 | base_link: 195 | Alpha: 1 196 | Show Axes: false 197 | Show Trail: false 198 | Value: true 199 | base_scan: 200 | Alpha: 1 201 | Show Axes: false 202 | Show Trail: false 203 | Value: true 204 | camera_link: 205 | Alpha: 1 206 | Show Axes: false 207 | Show Trail: false 208 | Value: true 209 | camera_rgb_frame: 210 | Alpha: 1 211 | Show Axes: false 212 | Show Trail: false 213 | camera_rgb_optical_frame: 214 | Alpha: 1 215 | Show Axes: false 216 | Show Trail: false 217 | caster_back_left_link: 218 | Alpha: 1 219 | Show Axes: false 220 | Show Trail: false 221 | Value: true 222 | caster_back_right_link: 223 | Alpha: 1 224 | Show Axes: false 225 | Show Trail: false 226 | Value: true 227 | imu_link: 228 | Alpha: 1 229 | Show Axes: false 230 | Show Trail: false 231 | wheel_left_link: 232 | Alpha: 1 233 | Show Axes: false 234 | Show Trail: false 235 | Value: true 236 | wheel_right_link: 237 | Alpha: 1 238 | Show Axes: false 239 | Show Trail: false 240 | Value: true 241 | Name: RobotModel 242 | TF Prefix: "" 243 | Update Interval: 0 244 | Value: true 245 | Visual Enabled: true 246 | Enabled: true 247 | Global Options: 248 | Background Color: 48; 48; 48 249 | Fixed Frame: odom 250 | Frame Rate: 30 251 | Name: root 252 | Tools: 253 | - Class: rviz_default_plugins/MoveCamera 254 | - Class: rviz_default_plugins/Select 255 | - Class: rviz_default_plugins/FocusCamera 256 | - Class: rviz_default_plugins/Measure 257 | Line color: 128; 128; 0 258 | - Class: rviz_default_plugins/SetGoal 259 | Topic: 260 | Depth: 5 261 | Durability Policy: Volatile 262 | History Policy: Keep Last 263 | Reliability Policy: Reliable 264 | Value: /move_base_simple/goal 265 | - Class: rviz_default_plugins/PublishPoint 266 | Single click: true 267 | Topic: 268 | Depth: 5 269 | Durability Policy: Volatile 270 | History Policy: Keep Last 271 | Reliability Policy: Reliable 272 | Value: /clicked_point 273 | Transformation: 274 | Current: 275 | Class: rviz_default_plugins/TF 276 | Value: true 277 | Views: 278 | Current: 279 | Class: rviz_default_plugins/Orbit 280 | Distance: 5 281 | Enable Stereo Rendering: 282 | Stereo Eye Separation: 0.05999999865889549 283 | Stereo Focal Distance: 1 284 | Swap Stereo Eyes: false 285 | Value: false 286 | Focal Point: 287 | X: 0 288 | Y: 0 289 | Z: 0 290 | Focal Shape Fixed Size: false 291 | Focal Shape Size: 0.05000000074505806 292 | Invert Z Axis: false 293 | Name: Current View 294 | Near Clip Distance: 0.009999999776482582 295 | Pitch: 0.7853981852531433 296 | Target Frame: 297 | Value: Orbit (rviz_default_plugins) 298 | Yaw: 0.7853981852531433 299 | Saved: 300 | - Class: rviz_default_plugins/Orbit 301 | Distance: 5 302 | Enable Stereo Rendering: 303 | Stereo Eye Separation: 0.05999999865889549 304 | Stereo Focal Distance: 1 305 | Swap Stereo Eyes: false 306 | Value: false 307 | Focal Point: 308 | X: 0 309 | Y: 0 310 | Z: 0 311 | Focal Shape Fixed Size: false 312 | Focal Shape Size: 0.05000000074505806 313 | Invert Z Axis: false 314 | Name: Orbit 315 | Near Clip Distance: 0.009999999776482582 316 | Pitch: 0.7853981852531433 317 | Target Frame: 318 | Value: Orbit (rviz_default_plugins) 319 | Yaw: 0.7853981852531433 320 | Window Geometry: 321 | Displays: 322 | collapsed: false 323 | Height: 923 324 | Hide Left Dock: false 325 | Hide Right Dock: false 326 | QMainWindow State: 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327 | Selection: 328 | collapsed: false 329 | Tool Properties: 330 | collapsed: false 331 | Views: 332 | collapsed: false 333 | Width: 1328 334 | X: 168 335 | Y: 71 336 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | 2 | Apache License 3 | Version 2.0, January 2004 4 | http://www.apache.org/licenses/ 5 | 6 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 7 | 8 | 1. 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-------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 8 | 9 | 12 | 13 | 16 | 17 | 20 | ogre2 21 | 22 | 25 | 26 | 27 | 28 | https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane 29 | 30 | 31 | 32 | 33 | 34 | https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun 35 | 36 | 37 | 38 | 39 | 0.319654 -0.235002 9.29441 0 1.5138 0.009599 40 | orbit 41 | perspective 42 | 43 | 44 | 45 | 3D View 46 | false 47 | docked 48 | 49 | 50 | ogre2 51 | scene 52 | 0.4 0.4 0.4 53 | 0.8 0.8 0.8 54 | 0.319654 -0.235002 9.29441 0 1.5138 0.009599 55 | 56 | 57 | 58 | 59 | floating 60 | 5 61 | 5 62 | false 63 | 64 | 65 | 66 | 67 | false 68 | 5 69 | 5 70 | floating 71 | false 72 | 73 | 74 | 75 | 76 | false 77 | 5 78 | 5 79 | floating 80 | false 81 | 82 | 83 | 84 | 85 | false 86 | 5 87 | 5 88 | floating 89 | false 90 | 91 | 92 | 93 | 94 | false 95 | 5 96 | 5 97 | floating 98 | false 99 | 100 | 101 | 102 | 103 | false 104 | 5 105 | 5 106 | floating 107 | false 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