Merge pull request #257 from ROBOTIS-GIT/develop

Develop
ROBOTIS-GIT · Oct 23, 2020 · fa428cf · fa428cf
2 parents dd344c4 + 24156d4
commit fa428cf
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Showing 11 changed files with 461 additions and 27 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -11,11 +11,9 @@ notifications:
     on_success: change
     on_failure: always
     recipients:
-      - [email protected]
-      - [email protected]
-      - [email protected]
-      - [email protected]
+      - [email protected]
 
 branches:
   only:
     - master
+    - develop
diff --git a/.../libraries/turtlebot3/examples/turtlebot3_burger/turtlebot3_core/turtlebot3_core_config.h b/.../libraries/turtlebot3/examples/turtlebot3_burger/turtlebot3_core/turtlebot3_core_config.h
@@ -18,18 +18,15 @@
 
 #ifndef TURTLEBOT3_CORE_CONFIG_H_
 #define TURTLEBOT3_CORE_CONFIG_H_
+// #define NOETIC_SUPPORT          //uncomment this if writing code for ROS1 Noetic
 
 #include <ros.h>
 #include <ros/time.h>
 #include <std_msgs/Bool.h>
 #include <std_msgs/Empty.h>
 #include <std_msgs/Int32.h>
-#include <sensor_msgs/Imu.h>
 #include <sensor_msgs/JointState.h>
-#include <sensor_msgs/BatteryState.h>
-#include <sensor_msgs/MagneticField.h>
 #include <geometry_msgs/Vector3.h>
-#include <geometry_msgs/Twist.h>
 #include <tf/tf.h>
 #include <tf/transform_broadcaster.h>
 #include <nav_msgs/Odometry.h>
@@ -43,7 +40,7 @@
 
 #include <math.h>
 
-#define FIRMWARE_VER "1.2.3"
+#define FIRMWARE_VER "1.2.6"
 
 #define CONTROL_MOTOR_SPEED_FREQUENCY          30   //hz
 #define CONTROL_MOTOR_TIMEOUT                  500  //ms
@@ -168,7 +165,11 @@ sensor_msgs::JointState joint_states;
 ros::Publisher joint_states_pub("joint_states", &joint_states);
 
 // Battey state of Turtlebot3
+#if defined NOETIC_SUPPORT
+sensor_msgs::BatteryStateNoetic battery_state_msg;
+#else
 sensor_msgs::BatteryState battery_state_msg;
+#endif
 ros::Publisher battery_state_pub("battery_state", &battery_state_msg);
 
 // Magnetic field

diff --git a/.../libraries/turtlebot3/examples/turtlebot3_waffle/turtlebot3_core/turtlebot3_core_config.h b/.../libraries/turtlebot3/examples/turtlebot3_waffle/turtlebot3_core/turtlebot3_core_config.h
@@ -18,18 +18,15 @@
 
 #ifndef TURTLEBOT3_CORE_CONFIG_H_
 #define TURTLEBOT3_CORE_CONFIG_H_
+// #define NOETIC_SUPPORT          //uncomment this if writing code for ROS1 Noetic
 
 #include <ros.h>
 #include <ros/time.h>
 #include <std_msgs/Bool.h>
 #include <std_msgs/Empty.h>
 #include <std_msgs/Int32.h>
-#include <sensor_msgs/Imu.h>
 #include <sensor_msgs/JointState.h>
-#include <sensor_msgs/BatteryState.h>
-#include <sensor_msgs/MagneticField.h>
 #include <geometry_msgs/Vector3.h>
-#include <geometry_msgs/Twist.h>
 #include <tf/tf.h>
 #include <tf/transform_broadcaster.h>
 #include <nav_msgs/Odometry.h>
@@ -43,7 +40,7 @@
 
 #include <math.h>
 
-#define FIRMWARE_VER "1.2.3"
+#define FIRMWARE_VER "1.2.6"
 
 #define CONTROL_MOTOR_SPEED_FREQUENCY          30   //hz
 #define CONTROL_MOTOR_TIMEOUT                  500  //ms

diff --git a/...ator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core_config.h b/...ator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core_config.h
@@ -18,6 +18,7 @@
 
 #ifndef TURTLEBOT3_WITH_OPEN_MANIPULATOR_CORE_CONFIG_H_
 #define TURTLEBOT3_WITH_OPEN_MANIPULATOR_CORE_CONFIG_H_
+// #define NOETIC_SUPPORT          //uncomment this if writing code for ROS1 Noetic
 
 #include <ros.h>
 #include <ros/time.h>
@@ -26,10 +27,7 @@
 #include <std_msgs/Int32.h>
 #include <std_msgs/Float64.h>
 #include <std_msgs/Float64MultiArray.h>
-#include <sensor_msgs/Imu.h>
 #include <sensor_msgs/JointState.h>
-#include <sensor_msgs/BatteryState.h>
-#include <sensor_msgs/MagneticField.h>
 #include <geometry_msgs/Vector3.h>
 #include <geometry_msgs/Twist.h>
 #include <tf/tf.h>
@@ -45,7 +43,7 @@
 
 #include <math.h>
 
-#define FIRMWARE_VER "2.0.1"
+#define FIRMWARE_VER "2.0.2"
 
 #define CONTROL_MOTOR_SPEED_FREQUENCY          30   //hz
 #define IMU_PUBLISH_FREQUENCY                  200  //hz

diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3/include/turtlebot3/turtlebot3_sensor.h b/arduino/opencr_arduino/opencr/libraries/turtlebot3/include/turtlebot3/turtlebot3_sensor.h
@@ -22,9 +22,14 @@
 #include <IMU.h>
 
 #include <sensor_msgs/Imu.h>
-#include <sensor_msgs/BatteryState.h>
 #include <sensor_msgs/MagneticField.h>
 
+#if defined NOETIC_SUPPORT
+  #include <sensor_msgs/BatteryStateNoetic.h>
+#else
+  #include <sensor_msgs/BatteryState.h>
+#endif
+
 #include "OLLO.h"
 
 #define ACCEL_FACTOR                      0.000598550415   // (ADC_Value / Scale) * 9.80665            => Range : +- 2[g]
@@ -98,7 +103,11 @@ class Turtlebot3Sensor
   void setLedPattern(double linear_vel, double angular_vel);
  private:
   sensor_msgs::Imu           imu_msg_;
-  sensor_msgs::BatteryState  battery_state_msg_;
+  #if defined NOETIC_SUPPORT
+    sensor_msgs::BatteryStateNoetic  battery_state_msg_;
+  #else
+    sensor_msgs::BatteryState  battery_state_msg_;
+  #endif
   sensor_msgs::MagneticField mag_msg_;
 
   cIMU imu_;

diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3/src/turtlebot3/turtlebot3_sensor.cpp b/arduino/opencr_arduino/opencr/libraries/turtlebot3/src/turtlebot3/turtlebot3_sensor.cpp
@@ -38,6 +38,10 @@ bool Turtlebot3Sensor::init(void)
 
   uint8_t get_error_code = 0x00;
 
+  #if defined NOETIC_SUPPORT
+    battery_state_msg_.temperature     = NAN;
+  #endif
+
   battery_state_msg_.current         = NAN;
   battery_state_msg_.charge          = NAN;
   battery_state_msg_.capacity        = NAN;

diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros_lib/sensor_msgs/BatteryState.h b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros_lib/sensor_msgs/BatteryState.h
@@ -323,4 +323,4 @@ namespace sensor_msgs
   };
 
 }
-#endif
+#endif