Merge pull request #21 from ROBOTIS-GIT/noetic-upgrade

Noetic upgrade
ROBOTIS-GIT · Sep 13, 2021 · 3a88e71 · 3a88e71
2 parents ab3dd5d + 9ca89b8
commit 3a88e71
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diff --git a/turtlebot3_home_service_challenge/CMakeLists.txt b/turtlebot3_home_service_challenge/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(turtlebot3_home_service_challenge)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/turtlebot3_home_service_challenge_manager/CMakeLists.txt b/turtlebot3_home_service_challenge_manager/CMakeLists.txt
@@ -1,12 +1,17 @@
-cmake_minimum_required(VERSION 2.8.3)
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.0.2)
 project(turtlebot3_home_service_challenge_manager)
 
-## Compile as C++11, supported in ROS Kinetic and newer
+################################################################################
+# Compile as C++11, supported in ROS Kinetic and newer
+################################################################################
 add_compile_options(-std=c++11)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
+################################################################################
+# Find catkin packages and libraries for catkin and system dependencies
+################################################################################
 find_package(catkin REQUIRED COMPONENTS  
   roslib
   roscpp
@@ -27,9 +32,9 @@ find_package(catkin REQUIRED COMPONENTS
   moveit_ros_planning_interface
 )
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
+################################################################################
+# System dependencies are found with CMake's conventions
+################################################################################
 set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${CATKIN_DEVEL_PREFIX}/lib/pkgconfig")
 
 find_package(Eigen REQUIRED)
@@ -50,95 +55,19 @@ if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
 add_definitions(-DHAVE_NEW_YAMLCPP)
 endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
 
+################################################################################
+# Declare ROS messages, services and actions
+################################################################################
 
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
+################################################################################
+# Declare ROS dynamic reconfigure parameters
+################################################################################
 
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   open_manipulator_msgs#   turtlebot3_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
+################################################################################
+# Declare catkin specific configuration to be passed to dependent projects
+################################################################################
 catkin_package(
   INCLUDE_DIRS include
-#  LIBRARIES mobile_robot_manager
   CATKIN_DEPENDS
     roslib
     roscpp
@@ -154,15 +83,11 @@ catkin_package(
     moveit_core
     moveit_ros_planning
     moveit_ros_planning_interface
-#  DEPENDS system_lib
 )
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
+################################################################################
+# Build
+################################################################################
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
@@ -171,19 +96,9 @@ include_directories(
   ${Eigen_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/mobile_robot_manager.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
+################################################################################
+# Build
+################################################################################
 add_executable(tb3_hsc_manager_node 
   src/tb3_hsc_manager_node.cpp
   src/tb3_hsc_manager.cpp
@@ -192,75 +107,17 @@ add_executable(tb3_hsc_manager_node
   src/tb3_hsc_manager_manipulation.cpp
   src/service.cpp
 )
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
 add_dependencies(tb3_hsc_manager_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
 target_link_libraries(tb3_hsc_manager_node
   ${catkin_LIBRARIES}
   ${YAML_CPP_LIBRARIES}
   ${Boost_INCLUDE_DIRS}
 )
 
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_mobile_robot_manager.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+################################################################################
+# Install
+################################################################################
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+################################################################################
+# Test
+################################################################################
diff --git a/turtlebot3_home_service_challenge_manager/package.xml b/turtlebot3_home_service_challenge_manager/package.xml
@@ -2,12 +2,17 @@
 <package format="2">
   <name>turtlebot3_home_service_challenge_manager</name>
   <version>0.0.1</version>
-  <description>The turtlebot3_home_service_challenge_manager package</description>
-
+  <description>
+    The turtlebot3_home_service_challenge_manager package
+  </description>
   <license>Apache 2.0</license>
   <author email="[email protected]">kayman</author>
-  <maintainer email="[email protected]">kayman</maintainer>
-
+  <author email="[email protected]">Ashe Kim</author>
+  <maintainer email="[email protected]">Will Son</maintainer>
+  <url type="website">http://wiki.ros.org/turtlebot3</url>
+  <url type="emanual">http://turtlebot3.robotis.com</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_home_service_challenge</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_home_service_challenge/issues</url>
   <buildtool_depend>catkin</buildtool_depend>
   <depend>roscpp</depend>
   <depend>rospy</depend>
@@ -27,5 +32,4 @@
   <depend>moveit_core</depend>
   <depend>moveit_ros_planning</depend>
   <depend>moveit_ros_planning_interface</depend>
-
-</package>
+</package> 
diff --git a/turtlebot3_home_service_challenge_simulation/CMakeLists.txt b/turtlebot3_home_service_challenge_simulation/CMakeLists.txt
@@ -1,6 +1,12 @@
-cmake_minimum_required(VERSION 2.8.3)
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.0.2)
 project(turtlebot3_home_service_challenge_simulation)
 
+################################################################################
+# Find catkin packages and libraries for catkin and system dependencies
+################################################################################
 find_package(catkin REQUIRED COMPONENTS
   controller_manager
   gazebo_ros
@@ -9,8 +15,14 @@ find_package(catkin REQUIRED COMPONENTS
   xacro
 )
 
+################################################################################
+# Declare catkin specific configuration to be passed to dependent projects
+################################################################################
 catkin_package()
 
+################################################################################
+# Build
+################################################################################
 include_directories(
 # include
   ${catkin_INCLUDE_DIRS}

diff --git a/turtlebot3_home_service_challenge_simulation/launch/world/competition.launch b/turtlebot3_home_service_challenge_simulation/launch/world/competition.launch
@@ -3,7 +3,7 @@
   <arg name="use_robot_name" default="tb3_hsc"/>
 
   <!-- These are the arguments you can pass this launch file, for example paused:=true -->
-  <arg name="paused" default="true"/>
+  <arg name="paused" default="false"/>
   <arg name="use_sim_time" default="true"/>
   <arg name="gui" default="true"/>
   <arg name="headless" default="false"/>
@@ -35,7 +35,7 @@
     <!-- controller utils -->    
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
        <param name="publish_frequency" type="double" value="100.0" />
-       <param name="tf_prefix" value="$(arg use_robot_name)" />
+       <param name="prefix_tf_with" value="$(arg use_robot_name)/" />
     </node>
 
     <!-- start joint state controller -->

diff --git a/turtlebot3_home_service_challenge_simulation/package.xml b/turtlebot3_home_service_challenge_simulation/package.xml
@@ -2,17 +2,21 @@
 <package format="2">
   <name>turtlebot3_home_service_challenge_simulation</name>
   <version>0.0.1</version>
-  <description>The turtlebot3_home_service_challenge_simulation package</description>
-
+  <description>
+    The turtlebot3_home_service_challenge_simulation package
+  </description>
   <license>Apache 2.0</license>
   <author email="[email protected]">kayman</author>
-  <maintainer email="[email protected]">kayman</maintainer>
-
+  <author email="[email protected]">Ashe Kim</author>
+  <maintainer email="[email protected]">Will Son</maintainer>
+  <url type="website">http://wiki.ros.org/turtlebot3</url>
+  <url type="emanual">http://turtlebot3.robotis.com</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_home_service_challenge</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_home_service_challenge/issues</url>
   <buildtool_depend>catkin</buildtool_depend>
   <depend>controller_manager</depend>
   <depend>gazebo_ros</depend>
   <depend>gazebo_ros_control</depend>
   <depend>urdf</depend>
   <depend>xacro</depend>
-
 </package>