Add installation simulation package for TB3 manipulation #1796
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Hello @chan-1207, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!
Summary of Changes
Hello! Gemini here, providing a summary of this pull request to help everyone get up to speed quickly.
This PR aims to update the e-manual documentation for TurtleBot3 Manipulation. The core reason for these changes is that the Gazebo simulation packages for TurtleBot3 Manipulation have been moved to a separate repository (turtlebot3_simulations). Consequently, the documentation needs to be adjusted to reflect this change, guiding users on how to install the simulation package from its new location and updating the launch file names used for starting the simulation.
Highlights
- Documentation Update: The primary goal is to update the e-manual documentation for TurtleBot3 Manipulation to align with recent changes where simulation packages were moved to a dedicated repository.
- Simulation Package Installation: Adds a new section in the simulation documentation (
manipulation_simulation_humble.md) providing instructions on how to clone and build theturtlebot3_simulationsrepository. - Launch File Name Change: Updates the Gazebo launch file name referenced in the simulation documentation from
turtlebot3_manipulation_bringup/gazebo.launch.pytoturtlebot3_manipulation_gazebo/gazebo.launch.py. - Documentation Formatting: Includes minor formatting adjustments (likely whitespace/indentation) in the software setup documentation (
manipulation_software_setup_humble.md).
Changelog
- _includes/en/platform/turtlebot3/manipulation/manipulation_simulation_humble.md
- Added a new section 'Install Simulation Package' with instructions for cloning
turtlebot3_simulationsand building the workspace. - Updated the launch command for running Gazebo simulation from
ros2 launch turtlebot3_manipulation_bringup gazebo.launch.pytoros2 launch turtlebot3_manipulation_gazebo gazebo.launch.py. - Updated the launch command for running Gazebo with RViz simulation from
ros2 launch turtlebot3_manipulation_bringup gazebo.launch.py start_rviz:=truetoros2 launch turtlebot3_manipulation_gazebo gazebo.launch.py start_rviz:=true.
- Added a new section 'Install Simulation Package' with instructions for cloning
- _includes/en/platform/turtlebot3/manipulation/manipulation_software_setup_humble.md
- Applied minor formatting changes (indentation) to bash code blocks.
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Code Review
This pull request updates the e-manual to reflect the relocation of Gazebo simulations for TurtleBot3 manipulation to the turtlebot3_simulations repository. The changes primarily involve adding installation instructions for the new simulation package and updating launch commands in the documentation. Overall, the modifications align well with the stated intent and the related PRs.
My review focuses on the correctness of the commands, clarity of instructions, and formatting consistency, adhering to general Markdown best practices as no specific style guide was provided. I've identified a couple of areas for improvement detailed below.
Summary of Findings
- Potential Non-Breaking Spaces in Shell Commands: The
git clonecommands in_includes/en/platform/turtlebot3/manipulation/manipulation_software_setup_humble.md(lines 19, 29) may contain non-breaking space (U+00A0) characters after the wordclone. This is a high-severity issue as it can cause commands to fail when copied and pasted by users. These should be replaced with standard spaces. - Markdown Formatting Consistency for Labels: Labels like
**[Remote PC]**in_includes/en/platform/turtlebot3/manipulation/manipulation_simulation_humble.md(lines 8, 19) use two trailing spaces, which force a hard line break (<br>). This formatting choice is inconsistent with similar labels in other files (e.g.,_includes/en/platform/turtlebot3/manipulation/manipulation_software_setup_humble.md) which do not use these trailing spaces. Standardizing this would improve consistency in rendering across the documentation. - Code Block Indentation Improvement: The leading indentation for ````bash
blocks in_includes/en/platform/turtlebot3/manipulation/manipulation_software_setup_humble.md` has been consistently removed. This is a good formatting improvement that enhances readability. (Severity: Low, not commented directly due to review settings).
Merge Readiness
The pull request makes essential updates to the documentation, aligning it with the new simulation package structure. The core changes, such as updating package names and launch commands, are well-implemented.
However, before merging, I recommend addressing the identified issues:
- High Severity: Potential non-breaking spaces in
git clonecommands, which could cause critical usability problems for users copying commands. - Medium Severity: Inconsistent formatting of labels preceding code blocks.
Resolving these points will significantly improve the documentation's quality, accuracy, and user-friendliness. As a reviewer, I am not authorized to approve pull requests, but I advise that these changes be made before this PR is merged by those with merge permissions.
| ```bash | ||
| $ sudo apt install ros-humble-hardware-interface ros-humble-xacro ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gripper-controllers | ||
| $ cd ~/turtlebot3_ws/src/ | ||
| $ git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git |
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It appears there might be a non-breaking space (U+00A0) character after clone in this command (i.e., clone<NBSP>-b). If a user copies and pastes this command into a terminal, the non-breaking space can cause the command to fail or be misinterpreted, depending on the shell and git's argument parsing.
Could you please verify this and replace any non-breaking space with a standard space character (U+0020) to ensure the command is robust when copied?
| $ git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git | |
| $ git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git |
| ```bash | ||
| $ sudo apt install ros-humble-dynamixel-sdk ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gripper-controllers ros-humble-moveit* | ||
| $ cd ~/turtlebot3_ws/src/ | ||
| $ git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git |
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Similar to line 19, this git clone command might also contain a non-breaking space (U+00A0) after clone. This could lead to issues when users copy and paste the command.
Could you please check this line as well and ensure a standard space is used?
| $ git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git | |
| $ git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git |
_includes/en/platform/turtlebot3/manipulation/manipulation_simulation_humble.md
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3 participants
Gazebo simulations for turtlebot3 manipulation have been moved to the turtlebot3_simulations repository, so this is a corresponding e-manual change.
Related PRs
ROBOTIS-GIT/turtlebot3_simulations#239 (comment)
ROBOTIS-GIT/turtlebot3_manipulation#86 (comment)
ROBOTIS-GIT/turtlebot3_home_service_challenge#34 (comment)