Remove Gazebo simulation package #86
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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-code-assist here, providing a summary of this pull request for a quick overview.
This PR, authored by @chan-1207, aims to remove the Gazebo simulation package from this repository. The stated intent is to consolidate the Gazebo simulation aspects into the turtlebot3_simulations repository, thereby reducing dependencies and preventing potential branching issues within this package. The changes involve removing Gazebo-specific files, launch configurations, and dependencies across several related packages.
Highlights
- Removal of Gazebo Simulation: The core change is the complete removal of the Gazebo simulation environment, including world files, meshes, and Gazebo-specific URDF configurations.
- Dependency Updates: The
gazebo_rosdependency has been removed from theturtlebot3_manipulation_bringuppackage'spackage.xml. - Launch File Removal: Launch files specifically designed for Gazebo simulation (
fake_moveit.launch.pyandmanipulation_bringup.launch.pywhich likely included Gazebo) have been removed. - Installation Configuration Changes: The
CMakeLists.txtfiles inturtlebot3_manipulation_bringupandturtlebot3_manipulation_descriptionhave been updated to no longer install Gazebo-related directories (worlds,gazebo). - Version Bumps and Changelog Updates: All packages (
turtlebot3_manipulation,turtlebot3_manipulation_bringup,turtlebot3_manipulation_cartographer,turtlebot3_manipulation_description,turtlebot3_manipulation_hardware,turtlebot3_manipulation_moveit_config,turtlebot3_manipulation_navigation2,turtlebot3_manipulation_teleop) have had their versions updated to 2.2.1, and relevant changelog entries have been added.
Changelog
Click here to see the changelog
- turtlebot3_manipulation/CHANGELOG.rst
- Removed the TurtleBot3 Manipulation Gazebo simulation
- turtlebot3_manipulation/package.xml
- Updated version to 2.2.1
- turtlebot3_manipulation_bringup/CHANGELOG.rst
- Removed the TurtleBot3 Manipulation Gazebo simulation
- turtlebot3_manipulation_bringup/CMakeLists.txt
- Removed 'worlds' directory from installation
- turtlebot3_manipulation_bringup/launch/fake_moveit.launch.py
- File removed
- turtlebot3_manipulation_bringup/launch/manipulation_bringup.launch.py
- File removed
- turtlebot3_manipulation_bringup/package.xml
- Updated version to 2.2.1
- Removed 'gazebo_ros' execution dependency
- turtlebot3_manipulation_bringup/worlds/empty_world.model
- File removed
- turtlebot3_manipulation_bringup/worlds/turtlebot3_world.model
- File removed
- turtlebot3_manipulation_bringup/worlds/turtlebot3_world/meshes/hexagon.dae
- File removed
- turtlebot3_manipulation_bringup/worlds/turtlebot3_world/meshes/wall.dae
- File removed
- turtlebot3_manipulation_bringup/worlds/turtlebot3_world/model-1_4.sdf
- File removed
- turtlebot3_manipulation_bringup/worlds/turtlebot3_world/model.config
- File removed
- turtlebot3_manipulation_bringup/worlds/turtlebot3_world/model.sdf
- File removed
- turtlebot3_manipulation_cartographer/CHANGELOG.rst
- None
- turtlebot3_manipulation_cartographer/package.xml
- Updated version to 2.2.1
- turtlebot3_manipulation_description/CHANGELOG.rst
- Removed the TurtleBot3 Manipulation Gazebo simulation
- turtlebot3_manipulation_description/CMakeLists.txt
- Removed 'gazebo' directory from installation
- turtlebot3_manipulation_description/package.xml
- Updated version to 2.2.1
- turtlebot3_manipulation_description/urdf/gazebo/materials.xacro
- File removed
- turtlebot3_manipulation_description/urdf/gazebo/open_manipulator_x.gazebo.xacro
- File removed
- turtlebot3_manipulation_description/urdf/gazebo/turtlebot3_waffle_pi.gazebo.xacro
- File removed
- turtlebot3_manipulation_hardware/CHANGELOG.rst
- None
- turtlebot3_manipulation_hardware/package.xml
- Updated version to 2.2.1
- turtlebot3_manipulation_moveit_config/CHANGELOG.rst
- None
- turtlebot3_manipulation_moveit_config/package.xml
- Updated version to 2.2.1
- turtlebot3_manipulation_navigation2/CHANGELOG.rst
- None
- turtlebot3_manipulation_navigation2/package.xml
- Updated version to 2.2.1
- turtlebot3_manipulation_teleop/CHANGELOG.rst
- None
- turtlebot3_manipulation_teleop/package.xml
- Updated version to 2.2.1
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Simulation departs,
To a new home it now goes,
Code lighter, builds fast.
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Code Review
This PR aims to remove the Gazebo simulation package from turtlebot3_manipulation and move it to turtlebot3_simulations. The changes involve updating package versions, removing Gazebo-related dependencies and files, and adjusting launch configurations. Overall, the changes seem reasonable and align with the stated goal. However, there are a few points that need closer attention.
Summary of Findings
- Gazebo Dependency Removal: The PR removes Gazebo-related dependencies and files. It's crucial to ensure that these removals don't break existing functionality or introduce regressions. Verify that all necessary Gazebo components are correctly moved to the
turtlebot3_simulationspackage and that the launch files are updated accordingly. - World File Handling: The
worldsdirectory is being removed. Ensure that any necessary world files are either moved to theturtlebot3_simulationspackage or are no longer required. If the world files are still needed, verify that theturtlebot3_simulationspackage correctly installs them and that the launch files are updated to point to the new location.
Merge Readiness
The pull request seems to be on the right track to remove the Gazebo simulation package. However, before merging, it's essential to double-check that all Gazebo-related dependencies and files are correctly handled and that no functionality is broken. I recommend that the author address the review comments, and that others review and approve this code before merging. I am unable to directly approve the pull request.
Pull Request Summary
This PR removes the Gazebo simulation package in order to move it to turtlebot3_simulations:
Removed the Gazebo simulation dependency to prevent the package from branching.
Remove warehouse-ros-mongo dependency
Validation
Verified successful colcon build and ros2 launch on a Humble, Jazzy development environment