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Merge pull request #354 from ROBOTIS-GIT/feature-dhi-update
Update for new DHI, mock_components
2 parents 1152ae9 + 6927015 commit 3fd6fa9

66 files changed

Lines changed: 359 additions & 438 deletions

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‎.github/workflows/ros-ci.yml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -57,9 +57,9 @@ jobs:
5757
echo "--- Updating rosdep definitions ---"
5858
rosdep update
5959
echo "--- Installing system dependencies for ROS 2 ${{ matrix.ros_distribution }} ---"
60-
rosdep install --from-paths ros_ws/src --ignore-src -y -r --rosdistro ${{ matrix.ros_distribution }}
60+
rosdep install --from-paths ros_ws/src --ignore-src -y -r --rosdistro ${{ matrix.ros_distribution }} --skip-keys dynamixel_hardware_interface
6161
echo "--- Performing rosdep check for ROS 2 ${{ matrix.ros_distribution }} ---"
62-
if rosdep check --from-paths ros_ws/src --ignore-src --rosdistro ${{ matrix.ros_distribution }}; then
62+
if rosdep check --from-paths ros_ws/src --ignore-src --rosdistro ${{ matrix.ros_distribution }} --skip-keys dynamixel_hardware_interface; then
6363
echo "--- rosdep check passed ---"
6464
else
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echo "--- rosdep check failed: Missing system dependencies or unresolvable keys. ---"
@@ -71,7 +71,7 @@ jobs:
7171

7272
with:
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target-ros2-distro: ${{ matrix.ros_distribution }}
74-
vcs-repo-file-url: ""
74+
vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/open_manipulator/${{ github.event_name == 'pull_request' && github.head_ref || github.ref_name }}/open_manipulator_ci.repos"
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package-name: |
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open_manipulator
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open_manipulator_bringup

‎docker/Dockerfile‎

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Original file line numberDiff line numberDiff line change
@@ -31,6 +31,7 @@ RUN mkdir -p ${COLCON_WS}/src && \
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git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git && \
3232
git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
3333
git clone -b jazzy https://github.com/ROBOTIS-GIT/open_manipulator.git && \
34+
git clone -b jazzy https://github.com/ros2/rmw_zenoh.git && \
3435
git clone -b r/4.56.4 https://github.com/IntelRealSense/realsense-ros.git && \
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cd realsense-ros && git checkout cbd8b8487d4c0126bb590822db9469414496e62a
3637

‎docker/docker-compose.yml‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -14,14 +14,18 @@ services:
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rttime: -1
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memlock: 8428281856
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network_mode: host
17+
ipc: host
18+
pid: host
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environment:
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- DISPLAY=${DISPLAY}
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- QT_X11_NO_MITSHM=1
22+
# - RMW_IMPLEMENTATION=rmw_zenoh_cpp
2023
volumes:
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- /dev:/dev
22-
- ./workspace:/workspace
25+
- /dev/shm:/dev/shm
2326
- /tmp/.X11-unix:/tmp/.X11-unix:rw
2427
- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
28+
- ./workspace:/workspace
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- ../:/root/ros2_ws/src/open_manipulator/
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privileged: true
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command: bash

‎open_manipulator/CHANGELOG.rst‎

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Original file line numberDiff line numberDiff line change
@@ -2,8 +2,17 @@
22
Changelog for package open_manipulator
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
4.1.1 (2025-11-13)
6+
------------------
7+
* Update for new DHI, mock_components
8+
* Update for docker-compose.yml to use host IPC and PID and shared memory
9+
* Update gazebo plugin parameters for omx_l
10+
* Updated for new realtime_tools::RealtimePublisher API
11+
* Updated Dockerfile for DHI
12+
* Contributors: Woojin Wie, Heewon Lee
13+
514
4.1.0 (2025-10-24)
6-
-------------------
15+
------------------
716
* Support OMX-F GUI
817
* Support OMX-F Keyboard Teleop
918
* Contributors: Heewon Lee

‎open_manipulator/package.xml‎

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Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>open_manipulator</name>
5-
<version>4.1.0</version>
5+
<version>4.1.1</version>
66
<description>
77
OpenMANIPULATOR meta ROS 2 package.
88
</description>

‎open_manipulator_bringup/CHANGELOG.rst‎

Lines changed: 6 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,8 +2,13 @@
22
Changelog for package open_manipulator_bringup
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
4.1.1 (2025-11-13)
6+
------------------
7+
* Update for mock_components
8+
* Contributors: Woojin Wie
9+
510
4.1.0 (2025-10-24)
6-
-------------------
11+
------------------
712
* None
813

914
4.0.10 (2025-10-23)

‎open_manipulator_bringup/launch/omx_f.launch.py‎

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -47,14 +47,14 @@ def generate_launch_description():
4747
description='Start robot in Gazebo simulation.',
4848
),
4949
DeclareLaunchArgument(
50-
'use_fake_hardware',
50+
'use_mock_hardware',
5151
default_value='false',
52-
description='Use fake hardware mirroring command.',
52+
description='Use mock hardware mirroring command.',
5353
),
5454
DeclareLaunchArgument(
55-
'fake_sensor_commands',
55+
'mock_sensor_commands',
5656
default_value='false',
57-
description='Enable fake sensor commands.',
57+
description='Enable mock sensor commands.',
5858
),
5959
DeclareLaunchArgument(
6060
'port_name',
@@ -82,8 +82,8 @@ def generate_launch_description():
8282
start_rviz = LaunchConfiguration('start_rviz')
8383
prefix = LaunchConfiguration('prefix')
8484
use_sim = LaunchConfiguration('use_sim')
85-
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
86-
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
85+
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
86+
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
8787
port_name = LaunchConfiguration('port_name')
8888
init_position = LaunchConfiguration('init_position')
8989
ros2_control_type = LaunchConfiguration('ros2_control_type')
@@ -106,11 +106,11 @@ def generate_launch_description():
106106
'use_sim:=',
107107
use_sim,
108108
' ',
109-
'use_fake_hardware:=',
110-
use_fake_hardware,
109+
'use_mock_hardware:=',
110+
use_mock_hardware,
111111
' ',
112-
'fake_sensor_commands:=',
113-
fake_sensor_commands,
112+
'mock_sensor_commands:=',
113+
mock_sensor_commands,
114114
' ',
115115
'port_name:=',
116116
port_name,

‎open_manipulator_bringup/launch/omx_f_follower_ai.launch.py‎

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Original file line numberDiff line numberDiff line change
@@ -47,14 +47,14 @@ def generate_launch_description():
4747
description='Start robot in Gazebo simulation.',
4848
),
4949
DeclareLaunchArgument(
50-
'use_fake_hardware',
50+
'use_mock_hardware',
5151
default_value='false',
52-
description='Use fake hardware mirroring command.',
52+
description='Use mock hardware mirroring command.',
5353
),
5454
DeclareLaunchArgument(
55-
'fake_sensor_commands',
55+
'mock_sensor_commands',
5656
default_value='false',
57-
description='Enable fake sensor commands.',
57+
description='Enable mock sensor commands.',
5858
),
5959
DeclareLaunchArgument(
6060
'init_position',
@@ -77,8 +77,8 @@ def generate_launch_description():
7777
start_rviz = LaunchConfiguration('start_rviz')
7878
prefix = LaunchConfiguration('prefix')
7979
use_sim = LaunchConfiguration('use_sim')
80-
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
81-
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
80+
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
81+
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
8282
init_position = LaunchConfiguration('init_position')
8383
ros2_control_type = LaunchConfiguration('ros2_control_type')
8484
port_name = LaunchConfiguration('port_name')
@@ -100,11 +100,11 @@ def generate_launch_description():
100100
'use_sim:=',
101101
use_sim,
102102
' ',
103-
'use_fake_hardware:=',
104-
use_fake_hardware,
103+
'use_mock_hardware:=',
104+
use_mock_hardware,
105105
' ',
106-
'fake_sensor_commands:=',
107-
fake_sensor_commands,
106+
'mock_sensor_commands:=',
107+
mock_sensor_commands,
108108
' ',
109109
'ros2_control_type:=',
110110
ros2_control_type,

‎open_manipulator_bringup/launch/omx_l_leader_ai.launch.py‎

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -46,14 +46,14 @@ def generate_launch_description():
4646
description='Start robot in Gazebo simulation.',
4747
),
4848
DeclareLaunchArgument(
49-
'use_fake_hardware',
49+
'use_mock_hardware',
5050
default_value='false',
51-
description='Use fake hardware mirroring command.',
51+
description='Use mock hardware mirroring command.',
5252
),
5353
DeclareLaunchArgument(
54-
'fake_sensor_commands',
54+
'mock_sensor_commands',
5555
default_value='false',
56-
description='Enable fake sensor commands.',
56+
description='Enable mock sensor commands.',
5757
),
5858
DeclareLaunchArgument(
5959
'port_name',
@@ -70,8 +70,8 @@ def generate_launch_description():
7070
# Launch configurations
7171
prefix = LaunchConfiguration('prefix')
7272
use_sim = LaunchConfiguration('use_sim')
73-
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
74-
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
73+
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
74+
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
7575
port_name = LaunchConfiguration('port_name')
7676
ros2_control_type = LaunchConfiguration('ros2_control_type')
7777

@@ -92,11 +92,11 @@ def generate_launch_description():
9292
'use_sim:=',
9393
use_sim,
9494
' ',
95-
'use_fake_hardware:=',
96-
use_fake_hardware,
95+
'use_mock_hardware:=',
96+
use_mock_hardware,
9797
' ',
98-
'fake_sensor_commands:=',
99-
fake_sensor_commands,
98+
'mock_sensor_commands:=',
99+
mock_sensor_commands,
100100
' ',
101101
'port_name:=',
102102
port_name,

‎open_manipulator_bringup/launch/omy_3m.launch.py‎

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -47,14 +47,14 @@ def generate_launch_description():
4747
description='Start robot in Gazebo simulation.',
4848
),
4949
DeclareLaunchArgument(
50-
'use_fake_hardware',
50+
'use_mock_hardware',
5151
default_value='false',
52-
description='Use fake hardware mirroring command.',
52+
description='Use mock hardware mirroring command.',
5353
),
5454
DeclareLaunchArgument(
55-
'fake_sensor_commands',
55+
'mock_sensor_commands',
5656
default_value='false',
57-
description='Enable fake sensor commands.',
57+
description='Enable mock sensor commands.',
5858
),
5959
DeclareLaunchArgument(
6060
'init_position',
@@ -77,8 +77,8 @@ def generate_launch_description():
7777
start_rviz = LaunchConfiguration('start_rviz')
7878
prefix = LaunchConfiguration('prefix')
7979
use_sim = LaunchConfiguration('use_sim')
80-
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
81-
fake_sensor_commands = LaunchConfiguration('fake_sensor_commands')
80+
use_mock_hardware = LaunchConfiguration('use_mock_hardware')
81+
mock_sensor_commands = LaunchConfiguration('mock_sensor_commands')
8282
init_position = LaunchConfiguration('init_position')
8383
ros2_control_type = LaunchConfiguration('ros2_control_type')
8484
init_position_file = LaunchConfiguration('init_position_file')
@@ -100,11 +100,11 @@ def generate_launch_description():
100100
'use_sim:=',
101101
use_sim,
102102
' ',
103-
'use_fake_hardware:=',
104-
use_fake_hardware,
103+
'use_mock_hardware:=',
104+
use_mock_hardware,
105105
' ',
106-
'fake_sensor_commands:=',
107-
fake_sensor_commands,
106+
'mock_sensor_commands:=',
107+
mock_sensor_commands,
108108
' ',
109109
'ros2_control_type:=',
110110
ros2_control_type,

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