Merge pull request #94 from lge-ros2/main

Merge into jazzy
lge-ros2 · Dec 17, 2024 · 304a0ae · 304a0ae
2 parents 4658693 + edc6b67
commit 304a0ae
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Showing 22 changed files with 25 additions and 23 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -7,11 +7,11 @@ ENV DEBCONF_NOWARNINGS yes
 
 WORKDIR /opt/lge-ros2/src
 
-RUN git clone   --recursive https://github.com/lge-ros2/cloisim_ros.git -b ${ROS_DISTRO}
+RUN git clone --recursive https://github.com/lge-ros2/cloisim_ros.git -b ${ROS_DISTRO}
 
 WORKDIR /opt/lge-ros2
 
-RUN apt update && apt upgrade -y && \
+RUN apt -qq update && apt -qq upgrade -y && \
     apt install -y -q ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
     rosdep update && \
     rosdep install -y -r -q --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}

diff --git a/cloisim_ros_actor/package.xml b/cloisim_ros_actor/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>cloisim_ros_actor</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>node for actor plugin</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_base/package.xml b/cloisim_ros_base/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>cloisim_ros_base</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>CLOiSim-ROS base class for other CLOiSim-ROS</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_bridge_zmq/package.xml b/cloisim_ros_bridge_zmq/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>cloisim_ros_bridge_zmq</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>bridge for cloisim(simulator) connection through ZMQ</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_bringup/package.xml b/cloisim_ros_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>cloisim_ros_bringup</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>Bringup scripts and configurations for cloisim_ros</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>

diff --git a/cloisim_ros_bringup_param/package.xml b/cloisim_ros_bringup_param/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>cloisim_ros_bringup_param</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>Bringup scripts and configurations for cloisim_ros</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_camera/package.xml b/cloisim_ros_camera/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>cloisim_ros_camera</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>Virtual camera/depth camera/segmentation camera for CLOiSim</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_elevator_system/package.xml b/cloisim_ros_elevator_system/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>cloisim_ros_elevator_system</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>elevator system for simulation</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

diff --git a/cloisim_ros_gps/package.xml b/cloisim_ros_gps/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>cloisim_ros_gps</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>virtual gps for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_ground_truth/package.xml b/cloisim_ros_ground_truth/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>cloisim_ros_ground_truth</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>world plugin to retrieve ground truth</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_imu/package.xml b/cloisim_ros_imu/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>cloisim_ros_imu</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>virtual imu for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_joint_control/package.xml b/cloisim_ros_joint_control/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>cloisim_ros_joint_control</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>joint_control package for simulator</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_lidar/package.xml b/cloisim_ros_lidar/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>cloisim_ros_lidar</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>virtual lidar for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_micom/package.xml b/cloisim_ros_micom/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>cloisim_ros_micom</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>micom package for simulator</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_msgs/package.xml b/cloisim_ros_msgs/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>cloisim_ros_msgs</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>interfaces package for cloisim_ros</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_multicamera/package.xml b/cloisim_ros_multicamera/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>cloisim_ros_multicamera</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>virtual multi-camera for simulator</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

diff --git a/cloisim_ros_protobuf_msgs/package.xml b/cloisim_ros_protobuf_msgs/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>cloisim_ros_protobuf_msgs</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>CLOiSim-ROS interafces for communication between simulator and CLOiSim-ROS</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_realsense/package.xml b/cloisim_ros_realsense/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>cloisim_ros_realsense</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>virtual realsense for simulator</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

diff --git a/cloisim_ros_realsense/src/realsense.cpp b/cloisim_ros_realsense/src/realsense.cpp
@@ -34,6 +34,7 @@ RealSense::RealSense(
   const rclcpp::NodeOptions & options_, const string node_name, const string namespace_)
 : Base(node_name, namespace_, options_)
 {
+  topic_name_ = "_";
   Start();
 }
 
@@ -138,6 +139,7 @@ void RealSense::InitializeCam(
 void RealSense::InitializeImu(zmq::Bridge * const info_ptr, zmq::Bridge * const data_ptr)
 {
   // Get frame for message
+  const auto topic_name = "imu";
   const auto frame_id = GetFrameId("imu_link");
   msg_imu_.header.frame_id = frame_id;
 
@@ -148,7 +150,7 @@ void RealSense::InitializeImu(zmq::Bridge * const info_ptr, zmq::Bridge * const
   }
 
   // ROS2 Publisher
-  const auto topic_base_name = GetPartsName() + "/" + topic_name_;
+  const auto topic_base_name = GetPartsName() + "/" + topic_name;
   pub_imu_ =
     this->create_publisher<sensor_msgs::msg::Imu>(topic_base_name, rclcpp::SensorDataQoS());
 

diff --git a/cloisim_ros_sonar/package.xml b/cloisim_ros_sonar/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>cloisim_ros_sonar</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>virtual sonar for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_websocket_service/package.xml b/cloisim_ros_websocket_service/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>cloisim_ros_websocket_service</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>websocket service for cloisim(simulator) connection port control</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_world/package.xml b/cloisim_ros_world/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>cloisim_ros_world</name>
-  <version>4.6.1</version>
+  <version>4.6.2</version>
   <description>Utilities to interface with Unity through ROS.</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>