ROBOTIS-GIT · GyuH13 · Jun 10, 2025 · May 28, 2025 · Jun 2, 2025 · Jun 4, 2025
diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml
@@ -0,0 +1,32 @@
+# The name of the workflow
+name: Lint
+
+# Specifies the events that trigger the workflow
+on:
+  pull_request:
+
+# Defines a set of jobs to be run as part of the workflow
+jobs:
+  ament_lint:
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [cppcheck, cpplint, uncrustify, flake8, pep257, lint_cmake, xmllint, copyright]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+
+      - name: Run Linter
+        env:
+          AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          linter: ${{ matrix.linter }}
+          distribution: rolling
+          package-name: "*"
diff --git a/turtlebot3_manipulation/CHANGELOG.rst b/turtlebot3_manipulation/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_manipulation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.1 (2025-05-28)
+------------------
+* Removed the TurtleBot3 Manipulation Gazebo simulation
+* Contributors: ChanHyeong Lee
+
 2.2.0 (2025-04-01)
 ------------------
 * Added gripper control in teleoperation.

diff --git a/turtlebot3_manipulation/package.xml b/turtlebot3_manipulation/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>turtlebot3_manipulation</name>
-  <version>2.2.0</version>
+  <version>2.2.1</version>
   <description>
     ROS 2 package for turtlebot3_manipulation
   </description>

diff --git a/turtlebot3_manipulation_bringup/CHANGELOG.rst b/turtlebot3_manipulation_bringup/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_manipulation_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.1 (2025-05-28)
+------------------
+* Removed the TurtleBot3 Manipulation Gazebo simulation
+* Contributors: ChanHyeong Lee
+
 2.2.0 (2025-04-01)
 ------------------
 * Updated maintainer information

diff --git a/turtlebot3_manipulation_bringup/CMakeLists.txt b/turtlebot3_manipulation_bringup/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(ament_cmake REQUIRED)
 # Install
 ################################################################################
 install(
-  DIRECTORY launch config rviz worlds
+  DIRECTORY launch config rviz
   DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/turtlebot3_manipulation_bringup/launch/base.launch.py b/turtlebot3_manipulation_bringup/launch/base.launch.py
@@ -133,7 +133,7 @@ def generate_launch_description():
             ('~/cmd_vel_unstamped', 'cmd_vel'),
             ('~/odom', 'odom')
         ],
-        output="both",
+        output='both',
         condition=UnlessCondition(use_sim))
 
     robot_state_pub_node = Node(

diff --git a/turtlebot3_manipulation_bringup/launch/fake.launch.py b/turtlebot3_manipulation_bringup/launch/fake.launch.py
diff --git a/turtlebot3_manipulation_bringup/launch/gazebo.launch.py b/turtlebot3_manipulation_bringup/launch/gazebo.launch.py
diff --git a/turtlebot3_manipulation_bringup/launch/hardware.launch.py b/turtlebot3_manipulation_bringup/launch/hardware.launch.py
@@ -22,10 +22,9 @@
 from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import PathJoinSubstitution
 from launch.substitutions import LaunchConfiguration
+from launch.substitutions import PathJoinSubstitution
 from launch.substitutions import ThisLaunchFileDir
-
 from launch_ros.substitutions import FindPackageShare
 
 

diff --git a/turtlebot3_manipulation_bringup/package.xml b/turtlebot3_manipulation_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>turtlebot3_manipulation_bringup</name>
-  <version>2.2.0</version>
+  <version>2.2.1</version>
   <description>
     ROS 2 package for turtlebot3_manipulation
   </description>
@@ -14,11 +14,9 @@
   <author email="thlim@robotis.com">Darby Lim</author>
   <author email="hjkim@robotis.com">Hye-jong KIM</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <exec_depend>gazebo_ros</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros2_control</exec_depend>
   <exec_depend>ros2_controllers</exec_depend>
-  <exec_depend>gripper_controllers</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>turtlebot3_manipulation_description</exec_depend>
   <exec_depend>xacro</exec_depend>