ROBOTIS-GIT · GyuH13 · Jun 26, 2026 · Jun 24, 2026 · Jun 24, 2026 · Jun 26, 2026
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -18,6 +18,7 @@ RUN apt-get update && apt-get install -y \
     libglfw3-dev \
     ros-${ROS_DISTRO}-image-transport-plugins \
     ros-${ROS_DISTRO}-usb-cam \
+    ros-${ROS_DISTRO}-rmw-zenoh-cpp \
     vim \
     nano \
     && rm -rf /var/lib/apt/lists/*
@@ -31,14 +32,14 @@ RUN mkdir -p ${COLCON_WS}/src && \
     git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git && \
     git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
     git clone -b jazzy https://github.com/ROBOTIS-GIT/open_manipulator.git && \
-    git clone -b jazzy https://github.com/ros2/rmw_zenoh.git && \
+    git clone -b jazzy https://github.com/ROBOTIS-GIT/robotis_interfaces.git && \
     git clone -b r/4.56.4 https://github.com/IntelRealSense/realsense-ros.git && \
     cd realsense-ros && git checkout cbd8b8487d4c0126bb590822db9469414496e62a
 
 RUN cd ${COLCON_WS} && \
     apt-get update && \
     rosdep update && \
-    rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys="librealsense2" -y && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys="librealsense2 robotis_interfaces" -y && \
     rm -rf /var/lib/apt/lists/*
 
 RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
@@ -48,6 +49,10 @@ RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc  && \
     echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc  && \
     echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \
-    echo "export ROS_DOMAIN_ID=30" >> ~/.bashrc
+    echo "alias omy_ai='ros2 launch open_manipulator_bringup omy_ai.launch.py'" >> ~/.bashrc && \
+    echo "alias omx_ai='ros2 launch open_manipulator_bringup omx_ai.launch.py'" >> ~/.bashrc && \
+    echo "alias zenohd='ros2 run rmw_zenoh_cpp rmw_zenohd'" >> ~/.bashrc && \
+    echo "export ROS_DOMAIN_ID=30" >> ~/.bashrc && \
+    echo "export RMW_IMPLEMENTATION=rmw_zenoh_cpp" >> ~/.bashrc
 
 CMD ["bash"]
diff --git a/docker/container.sh b/docker/container.sh
@@ -3,6 +3,8 @@
 # Get the directory where the script is located
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 CONTAINER_NAME="open_manipulator"
+GITHUB_RELEASES_API="https://api.github.com/repos/ROBOTIS-GIT/open_manipulator/releases/latest"
+META_PACKAGE_XML="${SCRIPT_DIR}/../open_manipulator/package.xml"
 
 # Function to display help
 show_help() {
@@ -31,6 +33,16 @@ start_container() {
     fi
 
     echo "Starting Open Manipulator container..."
+    # Notify if an update is available (meta package version vs GitHub latest release)
+    CURRENT_VER=$(get_current_version)
+    LATEST_VER=$(get_latest_version)
+    if update_available "${CURRENT_VER}" "${LATEST_VER}"; then
+        print_update_notice "${CURRENT_VER}" "${LATEST_VER}"
+    fi
+
+    ### rmw_zenoh notice (remove later)
+    print_rmw_zenoh_notice
+    ### rmw_zenoh notice (remove later)
 
     # Copy udev rule for FTDI (U2D2)
     echo 'KERNEL=="ttyUSB*", DRIVERS=="ftdi_sio", MODE="0666", ATTR{device/latency_timer}="1"' | sudo tee /etc/udev/rules.d/99-u2d2.rules > /dev/null
@@ -61,6 +73,18 @@ enter_container() {
         echo "Error: Container is not running"
         exit 1
     fi
+
+    # Notify if an update is available (meta package version vs git tag)
+    CURRENT_VER=$(get_current_version)
+    GIT_VER=$(get_latest_version)
+    if update_available "${CURRENT_VER}" "${GIT_VER}"; then
+        print_update_notice "${CURRENT_VER}" "${GIT_VER}"
+    fi
+
+    ### rmw_zenoh notice (remove later)
+    print_rmw_zenoh_notice
+    ### rmw_zenoh notice (remove later)
+
     docker exec -it "$CONTAINER_NAME" bash
 }
 
@@ -82,6 +106,79 @@ stop_container() {
     fi
 }
 
+# Get current version from meta package (open_manipulator) package.xml
+print_update_notice() {
+    local current_ver="$1"
+    local latest_ver="$2"
+    W=52
+    BAR=$(printf '%*s' $W '' | tr ' ' '=')
+    LINE1="New version available: ${latest_ver} (current: ${current_ver})."
+    LINE2="1. Stop Container: ./container.sh stop"
+    LINE3="2. Pull Git Repo: git pull origin jazzy"
+    LINE4="3. Start Container: ./container.sh start"
+    echo ""
+    echo "  +${BAR}+"
+    printf "  |  %-$((W-2))s|\n" "$LINE1"
+    printf "  |  %-$((W-2))s|\n" "$LINE2"
+    printf "  |  %-$((W-2))s|\n" "$LINE3"
+    printf "  |  %-$((W-2))s|\n" "$LINE4"
+    echo "  +${BAR}+"
+    echo ""
+}
+
+### rmw_zenoh notice (remove later)
+print_rmw_zenoh_notice() {
+    W=52
+    BAR=$(printf '%*s' $W '' | tr ' ' '=')
+    LINE1="Since v5.0.0, rmw_zenoh_cpp is the default RMW."
+    LINE2="RMW_IMPLEMENTATION is set in ~/.bashrc inside the"
+    LINE3="container."
+    echo ""
+    echo "  +${BAR}+"
+    printf "  |  %-$((W-2))s|\n" "$LINE1"
+    printf "  |  %-$((W-2))s|\n" "$LINE2"
+    printf "  |  %-$((W-2))s|\n" "$LINE3"
+    echo "  +${BAR}+"
+    echo ""
+}
+### rmw_zenoh notice (remove later)
+
+get_current_version() {
+    local ver
+    if [ -f "${META_PACKAGE_XML}" ]; then
+        ver=$(sed -n 's/.*<version>\([^<]*\)<\/version>.*/\1/p' "${META_PACKAGE_XML}" | head -1)
+    fi
+    echo "${ver:-unknown}"
+}
+
+# Get latest version from GitHub releases (ROBOTIS-GIT/open_manipulator)
+get_latest_version() {
+    local json tag
+    json=$(curl -sL --connect-timeout 5 "${GITHUB_RELEASES_API}" 2>/dev/null)
+    tag=$(echo "${json}" | sed -n 's/.*"tag_name":\s*"\([^"]*\)".*/\1/p' | head -1)
+    # Strip optional 'v' prefix for comparison with package.xml
+    if [ -n "${tag}" ]; then
+        echo "${tag#v}"
+    else
+        echo ""
+    fi
+}
+
+# Check if the latest version is newer than the current version
+update_available() {
+    local current="$1"
+    local git_ver="$2"
+    if [ -z "${git_ver}" ]; then
+        return 1
+    fi
+    if [ "${git_ver}" = "${current}" ]; then
+        return 1
+    fi
+    local newer
+    newer=$(echo -e "${current}\n${git_ver}" | sort -V | tail -1)
+    [ "${newer}" = "${git_ver}" ]
+}
+
 # Main command handling
 case "$1" in
     "help")

diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
@@ -4,7 +4,7 @@ services:
     build:
       context: .
       dockerfile: Dockerfile
-    image: robotis/open-manipulator:latest
+    image: robotis/open-manipulator:5.0.0
     tty: true
     restart: always
     cap_add:
@@ -19,7 +19,6 @@ services:
     environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
-     # - RMW_IMPLEMENTATION=rmw_zenoh_cpp
     volumes:
       - /dev:/dev
       - /dev/shm:/dev/shm

diff --git a/open_manipulator/CHANGELOG.rst b/open_manipulator/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package open_manipulator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2026-06-24)
+------------------
+* Updated dockerfile to use zenoh-cpp
+* Updated SRDF for OMY-F3M
+* Contributors: Sungho Woo
+
 4.1.4 (2026-04-27)
 ------------------
 * Added nodes for drawing mission: shape_detector_node and omx_trajectory_controller_node

diff --git a/open_manipulator/package.xml b/open_manipulator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator</name>
-  <version>4.1.4</version>
+  <version>5.0.0</version>
   <description>
     OpenMANIPULATOR meta ROS 2 package.
   </description>

diff --git a/open_manipulator_bringup/CHANGELOG.rst b/open_manipulator_bringup/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2026-06-24)
+------------------
+* None
+
 4.1.4 (2026-04-27)
 ------------------
 * None

diff --git a/open_manipulator_bringup/package.xml b/open_manipulator_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_bringup</name>
-  <version>4.1.4</version>
+  <version>5.0.0</version>
   <description>OpenMANIPULATOR bringup ROS 2 package.</description>
   <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>

diff --git a/open_manipulator_bringup/setup.py b/open_manipulator_bringup/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=package_name,
-    version='4.1.4',
+    version='5.0.0',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),

diff --git a/open_manipulator_collision/CHANGELOG.rst b/open_manipulator_collision/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_collision
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2026-06-24)
+------------------
+* None
+
 4.1.4 (2026-04-27)
 ------------------
 * None

diff --git a/open_manipulator_collision/package.xml b/open_manipulator_collision/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_collision</name>
-  <version>4.1.4</version>
+  <version>5.0.0</version>
   <description>
     This package implements a self-collision detection system for the follower robot during
     leader-follower teleoperation. Its primary purpose is to enhance safety by detecting

diff --git a/open_manipulator_description/CHANGELOG.rst b/open_manipulator_description/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2026-06-24)
+------------------
+* None
+
 4.1.4 (2026-04-27)
 ------------------
 * None

diff --git a/open_manipulator_description/package.xml b/open_manipulator_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_description</name>
-  <version>4.1.4</version>
+  <version>5.0.0</version>
   <description>
     open_manipulator_description ROS 2 package.
   </description>

diff --git a/open_manipulator_gui/CHANGELOG.rst b/open_manipulator_gui/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_gui
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2026-06-24)
+------------------
+* None
+
 4.1.4 (2026-04-27)
 ------------------
 * None

diff --git a/open_manipulator_gui/package.xml b/open_manipulator_gui/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_gui</name>
-  <version>4.1.4</version>
+  <version>5.0.0</version>
   <description>
     The OpenMANIPULATOR GUI ROS 2 package enables users to explore Joint Space,
     Task Space, and even work with the Task Constructor functionality.  </description>

diff --git a/open_manipulator_moveit_config/CHANGELOG.rst b/open_manipulator_moveit_config/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package open_manipulator_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2026-06-24)
+------------------
+* Updated SRDF for OMY-F3M
+* Contributors: Sungho Woo
+
 4.1.4 (2026-04-27)
 ------------------
 * None

diff --git a/open_manipulator_moveit_config/config/omx_f/omx_f.srdf b/open_manipulator_moveit_config/config/omx_f/omx_f.srdf
@@ -57,4 +57,5 @@
     <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
     <disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
     <disable_collisions link1="link5" link2="link7" reason="Adjacent"/>
+    <disable_collisions link1="link6" link2="link7" reason="Always"/>
 </robot>
diff --git a/open_manipulator_moveit_config/package.xml b/open_manipulator_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_moveit_config</name>
-  <version>4.1.4</version>
+  <version>5.0.0</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the open_manipulator_x with the MoveIt Motion Planning Framework
   </description>

diff --git a/open_manipulator_playground/CHANGELOG.rst b/open_manipulator_playground/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_playground
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2026-06-24)
+------------------
+* None
+
 4.1.4 (2026-04-27)
 ------------------
 * Added nodes for drawing mission: shape_detector_node and omx_trajectory_controller_node

diff --git a/open_manipulator_playground/package.xml b/open_manipulator_playground/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_playground</name>
-  <version>4.1.4</version>
+  <version>5.0.0</version>
   <description>
     This package provides an example for utilizing the MoveIt API with the OpenMANIPULATOR,
     allowing users to practice and experiment freely.

diff --git a/open_manipulator_teleop/CHANGELOG.rst b/open_manipulator_teleop/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_teleop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2026-06-24)
+------------------
+* None
+
 4.1.4 (2026-04-27)
 ------------------
 * None

diff --git a/open_manipulator_teleop/package.xml b/open_manipulator_teleop/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_teleop</name>
-  <version>4.1.4</version>
+  <version>5.0.0</version>
   <description>OpenManipulator teleoperation package</description>
   <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache License 2.0</license>

diff --git a/open_manipulator_teleop/setup.py b/open_manipulator_teleop/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=package_name,
-    version='4.1.4',
+    version='5.0.0',
     packages=find_packages(exclude=[]),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),

diff --git a/ros2_controller/om_gravity_compensation_controller/CHANGELOG.rst b/ros2_controller/om_gravity_compensation_controller/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package om_gravity_compensation_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2026-06-24)
+------------------
+* None
+
 4.1.4 (2026-04-27)
 ------------------
 * None

diff --git a/ros2_controller/om_gravity_compensation_controller/package.xml b/ros2_controller/om_gravity_compensation_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>om_gravity_compensation_controller</name>
-  <version>4.1.4</version>
+  <version>5.0.0</version>
   <description>
     Controller for compensating for gravity on a group of joints
   </description>

diff --git a/ros2_controller/om_joint_trajectory_command_broadcaster/CHANGELOG.rst b/ros2_controller/om_joint_trajectory_command_broadcaster/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package om_joint_trajectory_command_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2026-06-24)
+------------------
+* None
+
 4.1.4 (2026-04-27)
 ------------------
 * None