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Merge pull request #238 from ROBOTIS-GIT/feature-machine-learning-jazzy
Update simulation for machine learning jazzy version
2 parents 8b28e28 + 65de107 commit eb50ff8

43 files changed

Lines changed: 1534 additions & 343 deletions

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‎.github/workflows/ros-ci.yml‎

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fail-fast: false
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matrix:
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ros_distribution:
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- humble
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# - humble
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- jazzy
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- rolling
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include:
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# ROS 2 Humble Hawksbill
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- docker_image: ubuntu:jammy
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ros_distribution: humble
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ros_version: 2
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# - docker_image: ubuntu:jammy
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# ros_distribution: humble
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# ros_version: 2
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# ROS 2 Jazzy Jalisco
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- docker_image: ubuntu:noble
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ros_distribution: jazzy

‎turtlebot3_fake_node/CHANGELOG.rst‎

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Changelog for package turtlebot3_fake
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.3.5 (2025-06-04)
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------------------
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* None
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2.3.3 (2025-05-29)
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------------------
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* Deprecate ament_include_dependency usage in CMakeLists.txt, related PR(https://github.com/ROBOTIS-GIT/turtlebot3_simulations/pull/234)

‎turtlebot3_fake_node/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>turtlebot3_fake_node</name>
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<version>2.3.3</version>
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<version>2.3.5</version>
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<description>
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Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot.
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You can do simple tests using this package on rviz without real robots.

‎turtlebot3_gazebo/CHANGELOG.rst‎

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Changelog for package turtlebot3_gazebo
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.3.5 (2025-06-04)
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------------------
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* Added turtlebot3_machine_learning world and plugin
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* Contributors: ChanHyeong Lee
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2.3.3 (2025-05-29)
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------------------
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* Deprecate ament_include_dependency usage in CMakeLists.txt, related PR(https://github.com/ROBOTIS-GIT/turtlebot3_simulations/pull/234)

‎turtlebot3_gazebo/CMakeLists.txt‎

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################################################################################
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# Set minimum required version of cmake, project name and compile options
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################################################################################
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cmake_minimum_required(VERSION 3.5)
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cmake_minimum_required(VERSION 3.8)
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project(turtlebot3_gazebo)
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if(NOT CMAKE_CXX_STANDARD)
@@ -26,17 +26,26 @@ find_package(nav_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(gz_math_vendor REQUIRED)
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find_package(gz-math REQUIRED)
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find_package(gz_sim_vendor REQUIRED)
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find_package(gz-sim REQUIRED)
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find_package(gz_plugin_vendor REQUIRED)
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find_package(gz-plugin REQUIRED)
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################################################################################
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# Build
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################################################################################
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link_directories(
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${GAZEBO_LIBRARY_DIRS}
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${GZ_SIM_LIBRARY_DIRS}
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)
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include_directories(
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include
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${GAZEBO_INCLUDE_DIRS}
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${gz_sim_vendor_INCLUDE_DIRS}
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${GZ_SIM_INCLUDE_DIRS}
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)
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set(EXEC_NAME "turtlebot3_drive")
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tf2::tf2
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)
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# add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
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# target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})
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# add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
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# target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})
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59-
# add_library(obstacle1 SHARED src/obstacle1.cpp)
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# target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})
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62-
# add_library(obstacle2 SHARED src/obstacle2.cpp)
63-
# target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})
62+
set(OBSTACLE_LIBS
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obstacles
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obstacle1
65+
obstacle2
66+
)
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65-
# add_library(obstacles SHARED src/obstacles.cpp)
66-
# target_link_libraries(obstacles ${GAZEBO_LIBRARIES})
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foreach(lib ${OBSTACLE_LIBS})
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add_library(${lib} SHARED src/${lib}.cpp)
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target_link_libraries(${lib}
71+
PUBLIC
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gz-sim::gz-sim
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gz-math::gz-math
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)
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endforeach()
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6877
################################################################################
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# Install
7079
################################################################################
71-
install(TARGETS ${EXEC_NAME}
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install(TARGETS
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${EXEC_NAME}
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obstacles
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obstacle1
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obstacle2
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DESTINATION lib/${PROJECT_NAME}
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)
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‎turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp‎

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// See the License for the specific language governing permissions and
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// limitations under the License.
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//
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// Author: Ryan Shim
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// Author: Ryan Shim, ChanHyeong Lee
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#ifndef TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
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#define TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
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20-
#include <ignition/math.hh>
21-
#include <gazebo/common/common.hh>
22-
#include <gazebo/gazebo.hh>
23-
#include <gazebo/physics/physics.hh>
20+
#include <chrono>
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#include <memory>
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#include <vector>
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25-
namespace gazebo
24+
#include <gz/sim/System.hh>
25+
#include <gz/sim/Model.hh>
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#include <gz/math/Vector3.hh>
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28+
namespace turtlebot3_gazebo
2629
{
27-
class Obstacle1 : public ModelPlugin
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31+
class Obstacle1Plugin
32+
: public gz::sim::System,
33+
public gz::sim::ISystemConfigure,
34+
public gz::sim::ISystemPreUpdate
2835
{
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public:
30-
void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
37+
Obstacle1Plugin() = default;
38+
~Obstacle1Plugin() override = default;
39+
40+
void Configure(
41+
const gz::sim::Entity & entity,
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const std::shared_ptr<const sdf::Element> & sdf,
43+
gz::sim::EntityComponentManager & ecm,
44+
gz::sim::EventManager & eventMgr) override;
45+
46+
void PreUpdate(
47+
const gz::sim::UpdateInfo & info,
48+
gz::sim::EntityComponentManager & ecm) override;
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3250
private:
33-
physics::ModelPtr model;
34-
event::ConnectionPtr updateConnection;
51+
gz::sim::Model model;
52+
std::chrono::steady_clock::time_point startTime;
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54+
std::vector<gz::math::Vector3d> waypoints;
55+
std::vector<double> segmentDistances;
56+
double totalDistance = 0.0;
57+
double speed = 0.1; // meters per second
3558
};
36-
GZ_REGISTER_MODEL_PLUGIN(Obstacle1);
37-
} // namespace gazebo
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60+
} // namespace turtlebot3_gazebo
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#endif // TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_

‎turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp‎

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// See the License for the specific language governing permissions and
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// limitations under the License.
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//
15-
// Author: Ryan Shim
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// Author: Ryan Shim, ChanHyeong Lee
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1717
#ifndef TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
1818
#define TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
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20-
#include <ignition/math.hh>
21-
#include <gazebo/common/common.hh>
22-
#include <gazebo/gazebo.hh>
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#include <gazebo/physics/physics.hh>
20+
#include <chrono>
21+
#include <memory>
22+
#include <vector>
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25-
namespace gazebo
24+
#include <gz/sim/System.hh>
25+
#include <gz/sim/Model.hh>
26+
#include <gz/math/Vector3.hh>
27+
28+
namespace turtlebot3_gazebo
2629
{
27-
class Obstacle2 : public ModelPlugin
30+
31+
class Obstacle2Plugin
32+
: public gz::sim::System,
33+
public gz::sim::ISystemConfigure,
34+
public gz::sim::ISystemPreUpdate
2835
{
2936
public:
30-
Obstacle2() = default;
31-
void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
37+
Obstacle2Plugin() = default;
38+
~Obstacle2Plugin() override = default;
39+
40+
void Configure(
41+
const gz::sim::Entity & entity,
42+
const std::shared_ptr<const sdf::Element> & sdf,
43+
gz::sim::EntityComponentManager & ecm,
44+
gz::sim::EventManager & eventMgr) override;
45+
46+
void PreUpdate(
47+
const gz::sim::UpdateInfo & info,
48+
gz::sim::EntityComponentManager & ecm) override;
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3350
private:
34-
physics::ModelPtr model;
35-
event::ConnectionPtr updateConnection;
51+
gz::sim::Model model;
52+
std::chrono::steady_clock::time_point startTime;
53+
54+
std::vector<gz::math::Vector3d> waypoints;
55+
std::vector<double> segmentDistances;
56+
double totalDistance = 0.0;
57+
double speed = 0.1; // meters per second
3658
};
37-
GZ_REGISTER_MODEL_PLUGIN(Obstacle2);
38-
} // namespace gazebo
59+
60+
} // namespace turtlebot3_gazebo
61+
3962
#endif // TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_

‎turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp‎

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// See the License for the specific language governing permissions and
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// limitations under the License.
1414
//
15-
// Author: Ryan Shim
15+
// Author: Ryan Shim, ChanHyeong Lee
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1717
#ifndef TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
1818
#define TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
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20-
#include <ignition/math.hh>
21-
#include <gazebo/common/common.hh>
22-
#include <gazebo/gazebo.hh>
23-
#include <gazebo/physics/physics.hh>
20+
#include <chrono>
21+
#include <memory>
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25-
#define PI 3.141592
23+
#include <gz/sim/components/Pose.hh>
24+
#include <gz/sim/EntityComponentManager.hh>
25+
#include <gz/sim/EventManager.hh>
26+
#include <gz/sim/Model.hh>
27+
#include <gz/sim/System.hh>
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27-
namespace gazebo
29+
namespace turtlebot3_gazebo
2830
{
29-
class Obstacles : public ModelPlugin
31+
32+
class ObstaclesPlugin
33+
: public gz::sim::System,
34+
public gz::sim::ISystemConfigure,
35+
public gz::sim::ISystemPreUpdate
3036
{
3137
public:
32-
Obstacles() = default;
33-
void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
38+
void Configure(
39+
const gz::sim::Entity & entity,
40+
const std::shared_ptr<const sdf::Element> & sdf,
41+
gz::sim::EntityComponentManager & ecm,
42+
gz::sim::EventManager & eventMgr) override;
43+
44+
void PreUpdate(
45+
const gz::sim::UpdateInfo & info,
46+
gz::sim::EntityComponentManager & ecm) override;
3447

3548
private:
36-
physics::ModelPtr model;
37-
event::ConnectionPtr updateConnection;
49+
gz::sim::Model model{gz::sim::kNullEntity};
50+
std::chrono::steady_clock::time_point startTime;
3851
};
39-
GZ_REGISTER_MODEL_PLUGIN(Obstacles);
40-
} // namespace gazebo
52+
53+
} // namespace turtlebot3_gazebo
54+
4155
#endif // TURTLEBOT3_GAZEBO__OBSTACLES_HPP_

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