ROS_Robot/turtlebot3_simulations
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Merge branch 'ros2-devel' of https://github.com/ROBOTIS-GIT/turtlebot3_simulations into ros2-devel

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This commit is contained in:
Will Son 2021-04-12 16:44:21 +09:00
commit dce6a76326
6 changed files with 13 additions and 15 deletions
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4
turtlebot3_fake_node/launch/rviz2.launch.py
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@ -31,8 +31,8 @@ def generate_launch_description():
return LaunchDescription([ return LaunchDescription([
Node( Node(
package='rviz2', package='rviz2',
node_executable='rviz2', executable='rviz2',
node_name='rviz2', name='rviz2',
arguments=['-d', rviz_config_dir], arguments=['-d', rviz_config_dir],
output='screen'), output='screen'),
]) ])

6
turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py
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@ -62,14 +62,14 @@ def generate_launch_description():
Node( Node(
package='turtlebot3_fake_node', package='turtlebot3_fake_node',
node_executable='turtlebot3_fake_node', executable='turtlebot3_fake_node',
parameters=[param_dir], parameters=[param_dir],
output='screen'), output='screen'),
Node( Node(
package='robot_state_publisher', package='robot_state_publisher',
node_executable='robot_state_publisher', executable='robot_state_publisher',
node_name='robot_state_publisher', name='robot_state_publisher',
output='screen', output='screen',
parameters=[{'use_sim_time': use_sim_time}], parameters=[{'use_sim_time': use_sim_time}],
arguments=[urdf]), arguments=[urdf]),

10
turtlebot3_fake_node/src/turtlebot3_fake_node.cpp
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@ -72,11 +72,11 @@ Turtlebot3Fake::~Turtlebot3Fake()
void Turtlebot3Fake::init_parameters() void Turtlebot3Fake::init_parameters()
{ {
// Declare parameters that may be set on this node // Declare parameters that may be set on this node
this->declare_parameter("joint_states_frame"); this->declare_parameter<std::string>("joint_states_frame");
this->declare_parameter("odom_frame"); this->declare_parameter<std::string>("odom_frame");
this->declare_parameter("base_frame"); this->declare_parameter<std::string>("base_frame");
this->declare_parameter("wheels.separation"); this->declare_parameter<double>("wheels.separation");
this->declare_parameter("wheels.radius"); this->declare_parameter<double>("wheels.radius");
// Get parameters from yaml // Get parameters from yaml
this->get_parameter_or<std::string>( this->get_parameter_or<std::string>(

2
turtlebot3_gazebo/CMakeLists.txt
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@ -27,7 +27,6 @@ find_package(nav_msgs REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED) find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED) find_package(tf2 REQUIRED)
find_package(turtlebot3 REQUIRED)
################################################################################ ################################################################################
# Build # Build
@ -88,5 +87,4 @@ ament_export_dependencies(nav_msgs)
ament_export_dependencies(rclcpp) ament_export_dependencies(rclcpp)
ament_export_dependencies(sensor_msgs) ament_export_dependencies(sensor_msgs)
ament_export_dependencies(tf2) ament_export_dependencies(tf2)
ament_export_dependencies(turtlebot3)
ament_package() ament_package()

4
turtlebot3_gazebo/launch/robot_state_publisher.launch.py
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@ -46,8 +46,8 @@ def generate_launch_description():
Node( Node(
package='robot_state_publisher', package='robot_state_publisher',
node_executable='robot_state_publisher', executable='robot_state_publisher',
node_name='robot_state_publisher', name='robot_state_publisher',
output='screen', output='screen',
parameters=[{'use_sim_time': use_sim_time}], parameters=[{'use_sim_time': use_sim_time}],
arguments=[urdf]), arguments=[urdf]),

2
turtlebot3_gazebo/package.xml
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@ -21,7 +21,7 @@
<depend>rclcpp</depend> <depend>rclcpp</depend>
<depend>sensor_msgs</depend> <depend>sensor_msgs</depend>
<depend>tf2</depend> <depend>tf2</depend>
<depend>turtlebot3</depend> <exec_depend>turtlebot3_description</exec_depend>
<export> <export>
<build_type>ament_cmake</build_type> <build_type>ament_cmake</build_type>
<gazebo_ros gazebo_model_path="${prefix}/models"/> <gazebo_ros gazebo_model_path="${prefix}/models"/>