Merge pull request #92 from lge-ros2/main

Merge into jazzy
lge-ros2 · Dec 3, 2024 · 4658693 · 4658693
2 parents 2d8fb90 + bc4d1f2
commit 4658693
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Showing 23 changed files with 27 additions and 25 deletions.
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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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_base/src/base.cpp b/cloisim_ros_base/src/base.cpp
@@ -116,8 +116,8 @@ void Base::GenerateTF(const string & buffer)
       newTf, pb_transform_stamped.transform(), pb_transform_stamped.transform().name(),
       pb_transform_stamped.header().str_id());
     PublishTF(newTf);
-  } else {
-    DBG_SIM_WRN("empty child frame id or parent frame id");
+  // } else {
+  //   DBG_SIM_WRN("empty child frame id or parent frame id");
   }
 }
 

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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</version>
   <description>micom package for simulator</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

diff --git a/cloisim_ros_micom/src/micom.cpp b/cloisim_ros_micom/src/micom.cpp
@@ -266,9 +266,11 @@ void Micom::PublishData(const string & buffer)
   UpdateUSS();
 
   // publish data
-  PublishTF(odom_tf_);
+  if (pb_micom_.has_odom()) {
+    PublishTF(odom_tf_);
+    pub_odom_->publish(msg_odom_);
+  }
 
-  pub_odom_->publish(msg_odom_);
   pub_imu_->publish(msg_imu_);
   pub_battery_->publish(msg_battery_);
   pub_bumper_->publish(msg_bumper_);

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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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/msgs/micom.proto b/cloisim_ros_protobuf_msgs/msgs/micom.proto
@@ -61,7 +61,7 @@ message Micom
   }
 
   required Time time        = 1;
-  required Odometry odom    = 2;
+  optional Odometry odom    = 2;
   optional USS uss          = 3;
   optional IR ir            = 4;
   optional Magnet magnet    = 5;

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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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_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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</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>4.6.0</version>
+  <version>4.6.1</version>
   <description>Utilities to interface with Unity through ROS.</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>