Bump 2.3.1 #230

robotpilot · 2025-03-31T12:27:28Z

No description provided.

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

Gazebo Sim & Jazzy update

gemini-code-assist

Hello @robotpilot, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

Summary of Changes

This pull request bumps the package versions of turtlebot3_fake_node and turtlebot3_gazebo to 2.3.1. It includes updates to the Gazebo simulation, adding Jazzy support for TurtleBot3 World and TurtleBot3 House environments. The changes involve migrating from gazebo_ros_pkgs to ros_gz_sim, updating model definitions, and modifying launch files to accommodate the new Gazebo Sim.

Highlights

Package Version Bump: The pull request increments the version of turtlebot3_fake_node and turtlebot3_gazebo to 2.3.1.
Gazebo Sim Update: The simulation environment is updated from gazebo_ros_pkgs to ros_gz_sim, requiring changes in CMakeLists.txt and launch files.
Jazzy Support: Added support for Jazzy, including TurtleBot3 World and TurtleBot3 House environments.
Model Updates: The SDF model files for TurtleBot3 models have been updated to version 1.8, with adjustments to inertial properties, sensor configurations, and plugin usage.
Launch File Modifications: Launch files have been modified to use ros_gz_sim launch configurations and to set the GZ_SIM_RESOURCE_PATH environment variable.
Bridge Parameters: Bridge parameters have been added for the burger model, and image bridging is conditionally enabled based on the TurtleBot3 model.
Model File Cleanup: Unnecessary model files related to the autorace 2020 environment have been removed.

Changelog

Click here to see the changelog

turtlebot3_fake_node/CHANGELOG.rst
- Bumped version to 2.3.1
turtlebot3_fake_node/package.xml
- Bumped version to 2.3.1
turtlebot3_gazebo/CHANGELOG.rst
- Added changelog entry for version 2.3.1, including Gazebo Sim update and Jazzy support.
turtlebot3_gazebo/CMakeLists.txt
- Replaced gazebo and gazebo_ros_pkgs with ros_gz_sim as a dependency.
- Commented out the addition of traffic light and obstacle plugins.
turtlebot3_gazebo/launch/empty_world.launch.py
- Replaced gazebo_ros with ros_gz_sim in launch file.
- Added AppendEnvironmentVariable to set GZ_SIM_RESOURCE_PATH.
- Modified launch arguments for gzserver_cmd and gzclient_cmd.
turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py
- Replaced gazebo_ros spawner with ros_gz_sim create node.
- Added bridge parameters and image bridge node.
turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
- Updated SDF version to 1.8.
- Adjusted inertial properties and sensor configurations.
- Replaced libgazebo_ros_imu_sensor.so and libgazebo_ros_ray_sensor.so plugins with gz-sim-diff-drive-system and gz-sim-joint-state-publisher-system plugins.
turtlebot3_gazebo/models/turtlebot3_house/model.sdf
- Replaced the material scripts with pbr materials
- Updated the uris for the mesh files
turtlebot3_gazebo/package.xml
- Bumped version to 2.3.1
- Replaced gazebo_ros_pkgs with ros_gz_bridge, ros_gz_image, and ros_gz_sim as dependencies.
turtlebot3_gazebo/worlds/turtlebot3_house.world
- Updated SDF version to 1.8
- Added https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane and https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
turtlebot3_gazebo/worlds/turtlebot3_world.world
- Updated SDF version to 1.8
- Added https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane and https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
turtlebot3_simulations/CHANGELOG.rst
- Added changelog entry for version 2.3.1, including Gazebo Sim update and Jazzy support.
turtlebot3_simulations/package.xml
- Bumped version to 2.3.1
- Added Hyungyu Kim as author

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Trivia time!

What is the name of the new generation of Gazebo simulator?

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Gazebo Sim (formerly Ignition)

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Copilot

Pull Request Overview

This PR bumps the package version to 2.3.1 while updating simulation-related launch files and removing deprecated ones. Key changes include replacing gazebo_ros with ros_gz_sim in multiple launch files, adding environment variable configuration for resource paths, and updating the CI workflow to include additional ROS distributions.

Reviewed Changes

Copilot reviewed 119 out of 127 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
turtlebot3_gazebo/launch/turtlebot3_world.launch.py	Updated simulation package references; added AppendEnvironmentVariable action
turtlebot3_gazebo/launch/turtlebot3_house.launch.py	Similar updates as world.launch.py
turtlebot3_gazebo/launch/turtlebot3_dqn_stage[1-4].launch.py	Removed several DQN-related launch files
turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py	Removed the autorace launch file
turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py	Updated to use ros_gz_sim for spawning and added bridge/image bridge nodes
turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py	Removed multi-spawn launch file
turtlebot3_gazebo/launch/multi_robot.launch.py	Removed multi-robot launch file
turtlebot3_gazebo/launch/empty_world.launch.py	Updated simulation package references; added AppendEnvironmentVariable action
.github/workflows/ros-ci.yml	Updated workflow configuration with additional branches and docker image adjustments

Files not reviewed (8)

turtlebot3_fake_node/CHANGELOG.rst: Language not supported
turtlebot3_fake_node/package.xml: Language not supported
turtlebot3_gazebo/CHANGELOG.rst: Language not supported
turtlebot3_gazebo/CMakeLists.txt: Language not supported
turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material: Language not supported
turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config: Language not supported
turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf: Language not supported
turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material: Language not supported

gemini-code-assist

Code Review

This pull request bumps the version to 2.3.1 and includes Gazebo Sim updates and Jazzy support for TurtleBot3 simulations. The changes involve updating package versions, modifying launch files to use ros_gz_sim instead of gazebo_ros_pkgs, updating model SDF files, and adding bridge parameters. Overall, the changes seem to be related to migrating the simulation environment to Gazebo Sim and ensuring compatibility with the Jazzy distribution.

Summary of Findings

Gazebo Sim Migration: The pull request migrates the simulation environment from gazebo_ros_pkgs to ros_gz_sim, requiring updates to launch files and model SDF files. This transition involves changes in package dependencies, plugin usage, and resource paths.
Model SDF Updates: Several model SDF files are modified to update material definitions, sensor configurations, and other properties. These changes aim to improve the visual fidelity and functionality of the simulated environment.
Launch File Modifications: Launch files are updated to use ros_gz_sim launch configurations and set environment variables for Gazebo Sim resources. The changes also include the removal of the multi_robot.launch.py and multi_spawn_turtlebot3.launch.py files.
Inconsistent traffic model SDFs: The traffic model SDFs are removed from the repository, which may lead to issues if they are still referenced elsewhere.

Merge Readiness

The pull request introduces significant changes related to Gazebo Sim migration and Jazzy support. While the code appears to be well-structured, it's crucial to ensure that all dependencies are correctly updated and that the simulation environment functions as expected after these changes. Thorough testing is recommended before merging. I am unable to directly approve this pull request, and other reviewers should also review this code before merging. Given the extent of the changes, it's important to ensure that all critical and high severity issues are addressed before merging.

gemini-code-assist · 2025-03-31T12:28:56Z

turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf

+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
            <scale>0.001 0.001 0.001</scale>


It seems that the wrong mesh is being used here. This should be right_tire.stl instead of left_tire.stl.

<uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>

gemini-code-assist · 2025-03-31T12:28:56Z

turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf

+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
            <scale>0.001 0.001 0.001</scale>


It seems that the wrong mesh is being used here. This should be right_tire.stl instead of left_tire.stl.

<uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>

gemini-code-assist · 2025-03-31T12:28:56Z

turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf

          <mesh>
-            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>


It seems that the wrong mesh is being used here. This should be left_tire.stl instead of right_tire.stl.

<uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>

gemini-code-assist · 2025-03-31T12:28:56Z

turtlebot3_gazebo/CMakeLists.txt

+find_package(ros_gz_sim REQUIRED)
 find_package(geometry_msgs REQUIRED)


Since gazebo_ros_pkgs is being replaced by ros_gz_sim, should gazebo also be removed here?

GyuH13 and others added 13 commits March 10, 2025 06:36

robot model update

cee1914

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

model and bridge update

9a8217d

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

update model and world

aa5af46

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

model sdf modifying

10c4847

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

migrating turtlebot3 house

51e29af

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

Delete files that have not been updated for Jazzy.

3ecda0c

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

bump

e08ec0d

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

add author

1d61156

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

lint

e62a5c8

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

add eof

fe1f02c

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

add jazzy, rolling CI

c31a871

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

add eof in mailbox.dae file

8d3fbb5

Signed-off-by: Hyungyu Kim <kimhg@robotis.com>

Merge pull request #229 from ROBOTIS-GIT/feature-jazzy-update

e5c1c28

Gazebo Sim & Jazzy update

Copilot AI review requested due to automatic review settings March 31, 2025 12:27

robotpilot self-assigned this Mar 31, 2025

robotpilot added the bump Increase the version number to release label Mar 31, 2025

robotpilot added this to Platform Mar 31, 2025

robotpilot moved this to 📝 Pull Request in Platform Mar 31, 2025

gemini-code-assist bot reviewed Mar 31, 2025

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Copilot AI reviewed Mar 31, 2025

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gemini-code-assist bot suggested changes Mar 31, 2025

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robotpilot merged commit e747d03 into jazzy Mar 31, 2025
14 checks passed

robotpilot deleted the bump-2.3.1 branch March 31, 2025 12:33

github-project-automation bot moved this from 📝 Pull Request to 🚩Done in Platform Mar 31, 2025

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Bump 2.3.1 #230

Bump 2.3.1 #230

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		<uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
		<scale>0.001 0.001 0.001</scale>

		find_package(ros_gz_sim REQUIRED)
		find_package(geometry_msgs REQUIRED)

Bump 2.3.1 #230

Bump 2.3.1 #230

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Summary of Changes

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