From ed2baaa99e78d862bfcf77163e38d0e8d11c8c48 Mon Sep 17 00:00:00 2001 From: "Hyunseok Yang (YG)" Date: Mon, 2 Dec 2024 18:04:00 +0900 Subject: [PATCH 1/4] Modify cloisim.msg.micom - change odom field as an optional --- cloisim_ros_protobuf_msgs/msgs/micom.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cloisim_ros_protobuf_msgs/msgs/micom.proto b/cloisim_ros_protobuf_msgs/msgs/micom.proto index 72eee082..fad0d7c9 100644 --- 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; From 5bc833dd110eca7d9fa9c1cc3a95042690135c1c Mon Sep 17 00:00:00 2001 From: "Hyunseok Yang (YG)" Date: Mon, 2 Dec 2024 18:06:13 +0900 Subject: [PATCH 2/4] Suppress the warning log for empty transform message in Base::GenerateTF() --- cloisim_ros_base/src/base.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cloisim_ros_base/src/base.cpp b/cloisim_ros_base/src/base.cpp index f13e141e..84d4f5b0 100644 --- 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"); } } From b8f2a15a2b71e3f8ae5d4ac9642b4d33628c28f5 Mon Sep 17 00:00:00 2001 From: "Hyunseok Yang (YG)" Date: Mon, 2 Dec 2024 18:07:58 +0900 Subject: [PATCH 3/4] modify cloisim_ros_micom - publish odom mesasge only odom field is valid --- cloisim_ros_micom/src/micom.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/cloisim_ros_micom/src/micom.cpp b/cloisim_ros_micom/src/micom.cpp index 707efdcc..8da428fb 100644 --- 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_); From bc4d1f2de8ed214ff42ca15c25fb5e3f24fe718e Mon Sep 17 00:00:00 2001 From: "Hyunseok Yang (YG)" Date: Tue, 3 Dec 2024 17:12:15 +0900 Subject: [PATCH 4/4] Update version info in package.xml --- cloisim_ros_actor/package.xml | 2 +- cloisim_ros_base/package.xml | 2 +- cloisim_ros_bridge_zmq/package.xml | 2 +- cloisim_ros_bringup/package.xml | 2 +- cloisim_ros_bringup_param/package.xml | 2 +- cloisim_ros_camera/package.xml | 2 +- cloisim_ros_elevator_system/package.xml | 2 +- cloisim_ros_gps/package.xml | 2 +- cloisim_ros_ground_truth/package.xml | 2 +- cloisim_ros_imu/package.xml | 2 +- cloisim_ros_joint_control/package.xml | 2 +- cloisim_ros_lidar/package.xml | 2 +- cloisim_ros_micom/package.xml | 2 +- cloisim_ros_msgs/package.xml | 2 +- cloisim_ros_multicamera/package.xml | 2 +- cloisim_ros_protobuf_msgs/package.xml | 2 +- cloisim_ros_realsense/package.xml | 2 +- cloisim_ros_sonar/package.xml | 2 +- cloisim_ros_websocket_service/package.xml | 2 +- cloisim_ros_world/package.xml | 2 +- 20 files changed, 20 insertions(+), 20 deletions(-) diff --git a/cloisim_ros_actor/package.xml b/cloisim_ros_actor/package.xml index 80cab57d..86d24d44 100644 --- a/cloisim_ros_actor/package.xml +++ b/cloisim_ros_actor/package.xml @@ -2,7 +2,7 @@ cloisim_ros_actor - 4.6.0 + 4.6.1 node for actor plugin Hyunseok Yang MIT diff --git a/cloisim_ros_base/package.xml b/cloisim_ros_base/package.xml index c5e5d2e2..1e7ba4e5 100644 --- a/cloisim_ros_base/package.xml +++ b/cloisim_ros_base/package.xml @@ -2,7 +2,7 @@ cloisim_ros_base - 4.6.0 + 4.6.1 CLOiSim-ROS base class for other CLOiSim-ROS Hyunseok Yang MIT diff --git a/cloisim_ros_bridge_zmq/package.xml b/cloisim_ros_bridge_zmq/package.xml index 3138029c..f34cf855 100644 --- a/cloisim_ros_bridge_zmq/package.xml +++ b/cloisim_ros_bridge_zmq/package.xml @@ -2,7 +2,7 @@ cloisim_ros_bridge_zmq - 4.6.0 + 4.6.1 bridge for cloisim(simulator) connection through ZMQ Hyunseok Yang MIT diff --git a/cloisim_ros_bringup/package.xml b/cloisim_ros_bringup/package.xml index 4f3bef5a..ac75b3c5 100644 --- a/cloisim_ros_bringup/package.xml +++ b/cloisim_ros_bringup/package.xml @@ -2,7 +2,7 @@ cloisim_ros_bringup - 4.6.0 + 4.6.1 Bringup scripts and configurations for cloisim_ros Hyunseok Yang Sungkyu Kang diff --git a/cloisim_ros_bringup_param/package.xml b/cloisim_ros_bringup_param/package.xml index f08fc25e..1d11c00f 100644 --- a/cloisim_ros_bringup_param/package.xml +++ b/cloisim_ros_bringup_param/package.xml @@ -2,7 +2,7 @@ cloisim_ros_bringup_param - 4.6.0 + 4.6.1 Bringup scripts and configurations for cloisim_ros Hyunseok Yang MIT diff --git a/cloisim_ros_camera/package.xml b/cloisim_ros_camera/package.xml index c2d6e5b1..327e0098 100644 --- a/cloisim_ros_camera/package.xml +++ b/cloisim_ros_camera/package.xml @@ -2,7 +2,7 @@ cloisim_ros_camera - 4.6.0 + 4.6.1 Virtual camera/depth camera/segmentation camera for CLOiSim Hyunseok Yang MIT diff --git a/cloisim_ros_elevator_system/package.xml b/cloisim_ros_elevator_system/package.xml index 6c8654de..6f3fd328 100644 --- a/cloisim_ros_elevator_system/package.xml +++ b/cloisim_ros_elevator_system/package.xml @@ -2,7 +2,7 @@ cloisim_ros_elevator_system - 4.6.0 + 4.6.1 elevator system for simulation Sungkyu Kang Hyunseok Yang diff --git a/cloisim_ros_gps/package.xml b/cloisim_ros_gps/package.xml index 0f12bc1d..18581e1e 100644 --- a/cloisim_ros_gps/package.xml +++ b/cloisim_ros_gps/package.xml @@ -2,7 +2,7 @@ cloisim_ros_gps - 4.6.0 + 4.6.1 virtual gps for simulation Hyunseok Yang MIT diff --git a/cloisim_ros_ground_truth/package.xml b/cloisim_ros_ground_truth/package.xml index 8c42a6e7..a1bc9ead 100644 --- a/cloisim_ros_ground_truth/package.xml +++ b/cloisim_ros_ground_truth/package.xml @@ -2,7 +2,7 @@ cloisim_ros_ground_truth - 4.6.0 + 4.6.1 world plugin to retrieve ground truth Hyunseok Yang MIT diff --git a/cloisim_ros_imu/package.xml b/cloisim_ros_imu/package.xml index d4521a72..0b98b3cf 100644 --- a/cloisim_ros_imu/package.xml +++ b/cloisim_ros_imu/package.xml @@ -2,7 +2,7 @@ cloisim_ros_imu - 4.6.0 + 4.6.1 virtual imu for simulation Hyunseok Yang MIT diff --git a/cloisim_ros_joint_control/package.xml b/cloisim_ros_joint_control/package.xml index d57965dd..6e4f945c 100644 --- a/cloisim_ros_joint_control/package.xml +++ b/cloisim_ros_joint_control/package.xml @@ -2,7 +2,7 @@ cloisim_ros_joint_control - 4.6.0 + 4.6.1 joint_control package for simulator Hyunseok Yang MIT diff --git a/cloisim_ros_lidar/package.xml b/cloisim_ros_lidar/package.xml index 3bcad5ea..d195866c 100644 --- a/cloisim_ros_lidar/package.xml +++ b/cloisim_ros_lidar/package.xml @@ -2,7 +2,7 @@ cloisim_ros_lidar - 4.6.0 + 4.6.1 virtual lidar for simulation Hyunseok Yang MIT diff --git a/cloisim_ros_micom/package.xml b/cloisim_ros_micom/package.xml index ddd097aa..99f2e461 100644 --- a/cloisim_ros_micom/package.xml +++ b/cloisim_ros_micom/package.xml @@ -2,7 +2,7 @@ cloisim_ros_micom - 4.6.0 + 4.6.1 micom package for simulator Hyunseok Yang MIT diff --git a/cloisim_ros_msgs/package.xml b/cloisim_ros_msgs/package.xml index acc2bcff..4d7acbd9 100644 --- a/cloisim_ros_msgs/package.xml +++ b/cloisim_ros_msgs/package.xml @@ -2,7 +2,7 @@ cloisim_ros_msgs - 4.6.0 + 4.6.1 interfaces package for cloisim_ros Hyunseok Yang MIT diff --git a/cloisim_ros_multicamera/package.xml b/cloisim_ros_multicamera/package.xml index f2effb47..ff5f135d 100644 --- a/cloisim_ros_multicamera/package.xml +++ b/cloisim_ros_multicamera/package.xml @@ -2,7 +2,7 @@ cloisim_ros_multicamera - 4.6.0 + 4.6.1 virtual multi-camera for simulator Sungkyu Kang Hyunseok Yang diff --git a/cloisim_ros_protobuf_msgs/package.xml b/cloisim_ros_protobuf_msgs/package.xml index 8a910ebf..24af5271 100644 --- a/cloisim_ros_protobuf_msgs/package.xml +++ b/cloisim_ros_protobuf_msgs/package.xml @@ -2,7 +2,7 @@ cloisim_ros_protobuf_msgs - 4.6.0 + 4.6.1 CLOiSim-ROS interafces for communication between simulator and CLOiSim-ROS Hyunseok Yang MIT diff --git a/cloisim_ros_realsense/package.xml b/cloisim_ros_realsense/package.xml index d3ad5075..61f43dde 100644 --- a/cloisim_ros_realsense/package.xml +++ b/cloisim_ros_realsense/package.xml @@ -2,7 +2,7 @@ cloisim_ros_realsense - 4.6.0 + 4.6.1 virtual realsense for simulator Sungkyu Kang Hyunseok Yang diff --git a/cloisim_ros_sonar/package.xml b/cloisim_ros_sonar/package.xml index 9f4f11ea..c5938e31 100644 --- a/cloisim_ros_sonar/package.xml +++ b/cloisim_ros_sonar/package.xml @@ -2,7 +2,7 @@ cloisim_ros_sonar - 4.6.0 + 4.6.1 virtual sonar for simulation Hyunseok Yang MIT diff --git a/cloisim_ros_websocket_service/package.xml b/cloisim_ros_websocket_service/package.xml index 32ca4980..063a4106 100644 --- a/cloisim_ros_websocket_service/package.xml +++ b/cloisim_ros_websocket_service/package.xml @@ -2,7 +2,7 @@ cloisim_ros_websocket_service - 4.6.0 + 4.6.1 websocket service for cloisim(simulator) connection port control Hyunseok Yang MIT diff --git a/cloisim_ros_world/package.xml b/cloisim_ros_world/package.xml index e98937dc..0a98514c 100644 --- a/cloisim_ros_world/package.xml +++ b/cloisim_ros_world/package.xml @@ -2,7 +2,7 @@ cloisim_ros_world - 4.6.0 + 4.6.1 Utilities to interface with Unity through ROS. Hyunseok Yang MIT