Merge pull request #76 from lge-ros2/main

Merge into jazzy

cloisim_ros_actor/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_actor</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>node for actor plugin</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_base/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_base</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>CLOiSim-ROS base class for other CLOiSim-ROS</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_bridge_zmq/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bridge_zmq</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>bridge for cloisim(simulator) connection through ZMQ</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_bringup/README.md

@@ -6,7 +6,7 @@ The `cloisim_ros_bringup` package is an bringup system for cloisim_ros.
 
 ```shell
 ros2 launch cloisim_ros_bringup cloisim.launch.py
-ros2 launch cloisim_ros_bringup bringup.launch.py
+ros2 launch cloisim_ros_bringup bringup_launch.py
 ```
 
 ## ROS2 Run
@@ -31,8 +31,9 @@ ros2 run cloisim_ros_bringup bringup
 #### ros2 launch
 
 ```shell
-ros2 launch cloisim_ros_bringup bringup.launch.py
-ros2 launch cloisim_ros_bringup bringup.launch.py single_mode:=False
+ros2 launch cloisim_ros_bringup bringup_launch.py
+ros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=False
+ros2 launch cloisim_ros_bringup bringup_multi_launch.py
 ```
 
 ### Specify the target model or target parts
@@ -42,10 +43,10 @@ Available Parts(case sensitive): MICOM, LASER, LIDAR, CAMERA, DEPTHCAMERA, MULTI
 Examples
 
 ```shell
-ros2 launch cloisim_ros_bringup bringup.launch.py target_model:=cloi1
-ros2 launch cloisim_ros_bringup bringup.launch.py target_parts_type:=LASER
-ros2 launch cloisim_ros_bringup bringup.launch.py target_model:=cloi1 target_parts_type:=LASER
-ros2 launch cloisim_ros_bringup bringup.launch.py target_model:=cloi1 target_parts_type:=LASER target_parts_name:=lidar
+ros2 launch cloisim_ros_bringup bringup_launch.py target_model:=cloi1
+ros2 launch cloisim_ros_bringup bringup_launch.py target_parts_type:=LASER
+ros2 launch cloisim_ros_bringup bringup_launch.py target_model:=cloi1 target_parts_type:=LASER
+ros2 launch cloisim_ros_bringup bringup_launch.py target_model:=cloi1 target_parts_type:=LASER target_parts_name:=lidar
 ```
 
 ### Turn on single Mode
@@ -54,22 +55,25 @@ will NOT apply namespace for robot and the number of robot must BE single in wor
 
 ```shell
 ros2 run cloisim_ros_bringup bringup --ros-args -p single_mode:=True
-ros2 launch cloisim_ros_bringup bringup.launch.py single_mode:=True
+ros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=True
+ros2 launch cloisim_ros_bringup bringup_single_launch.py
 ```
 
 #### Specific target model without namespace
 
 Specify target model from simulation
 
 ```shell
-ros2 launch cloisim_ros_bringup bringup.launch.py single_mode:=True target_model:=cloi0
+ros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=True target_model:=cloi0
+ros2 launch cloisim_ros_bringup bringup_single_launch.py target_model:=cloi0
 ```
 
 ### Enable or disable TF/TF_Static publishing
 
 Currently only support "micom" type in cloisim_ros_bringup.
 
 ```shell
-ros2 launch cloisim_ros_bringup bringup.launch.py micom.enable_tf:=False
 ros2 run cloisim_ros_bringup bringup --ros-args -p single_mode:=True -p micom.enable_tf:=False
+ros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=True micom.enable_tf:=False
+ros2 launch cloisim_ros_bringup bringup_single_launch.py micom.enable_tf:=False
 ```

cloisim_ros_bringup/launch/bringup_launch.py

@@ -89,7 +89,7 @@ def generate_launch_description():
         remappings=[('scan', _scan),
                     ('cmd_vel', _cmd_vel),
                     ('odom', _odom),
-                    ('imu', _imu),
+                    ('imu/data_raw', _imu),
                     ('navsatfix', _navsatfix)],
         parameters=[{'single_mode': _single_mode,
                      'target_model': ParameterValue(_target_model, value_type=str),

cloisim_ros_bringup/launch/bringup_multi_launch.py

@@ -0,0 +1,29 @@
+"""
+LGE Advanced Robotics Laboratory
+Copyright (c) 2020 LG Electronics Inc., LTD., Seoul, Korea
+All Rights are Reserved.
+
+SPDX-License-Identifier: MIT
+"""
+
+import launch.actions
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+
+def generate_launch_description():
+
+    bringup_dir = get_package_share_directory('cloisim_ros_bringup')
+
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([bringup_dir, "launch", "bringup_launch.py"])
+        ),
+        launch_arguments={'single_mode': False}.items()
+    )
+
+    ld = launch.LaunchDescription()
+    ld.add_action(bringup_cmd)
+
+    return ld

cloisim_ros_bringup/launch/bringup_single_launch.py

@@ -0,0 +1,29 @@
+"""
+LGE Advanced Robotics Laboratory
+Copyright (c) 2020 LG Electronics Inc., LTD., Seoul, Korea
+All Rights are Reserved.
+
+SPDX-License-Identifier: MIT
+"""
+
+import launch.actions
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+
+def generate_launch_description():
+
+    bringup_dir = get_package_share_directory('cloisim_ros_bringup')
+
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([bringup_dir, "launch", "bringup_launch.py"])
+        ),
+        launch_arguments={'single_mode': True}.items()
+    )
+
+    ld = launch.LaunchDescription()
+    ld.add_action(bringup_cmd)
+
+    return ld

cloisim_ros_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bringup</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>Bringup scripts and configurations for cloisim_ros</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <maintainer email="[email protected]">Sungkyu Kang</maintainer>

cloisim_ros_bringup_param/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bringup_param</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>Bringup scripts and configurations for cloisim_ros</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_camera/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_camera</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>Virtual camera/depth camera/segmentation camera for CLOiSim</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_elevator_system/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_elevator_system</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>elevator system for simulation</description>
   <maintainer email="[email protected]">Sungkyu Kang</maintainer>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>

cloisim_ros_gps/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_gps</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>virtual gps for simulation</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_ground_truth/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_ground_truth</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>world plugin to retrieve ground truth</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_imu/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_imu</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>virtual imu for simulation</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_imu/src/imu.cpp

@@ -25,7 +25,7 @@ namespace cloisim_ros
 Imu::Imu(const rclcpp::NodeOptions &options_, const string node_name, const string namespace_)
     : Base(node_name, namespace_, options_)
 {
-  topic_name_ = "imu";
+  topic_name_ = "imu/data_raw";
 
   Start();
 }

cloisim_ros_joint_control/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_joint_control</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>joint_control package for simulator</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_lidar/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_lidar</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>virtual lidar for simulation</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_micom/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_micom</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>micom package for simulator</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_msgs</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>interfaces package for cloisim_ros</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_multicamera/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_multicamera</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>virtual multi-camera for simulator</description>
   <maintainer email="[email protected]">Sungkyu Kang</maintainer>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>

cloisim_ros_protobuf_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_protobuf_msgs</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>CLOiSim-ROS interafces for communication between simulator and CLOiSim-ROS</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_realsense/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_realsense</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>virtual realsense for simulator</description>
   <maintainer email="[email protected]">Sungkyu Kang</maintainer>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>

cloisim_ros_sonar/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_sonar</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>virtual sonar for simulation</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_websocket_service/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_websocket_service</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>websocket service for cloisim(simulator) connection port control</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_world/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_world</name>
-  <version>4.2.0</version>
+  <version>4.2.1</version>
   <description>Utilities to interface with Unity through ROS.</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
   <license>MIT</license>