ROBOTIS-GIT · GyuH13 · Jun 10, 2025 · May 28, 2025 · Jun 2, 2025 · Jun 4, 2025
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/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/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>

diff --git a/turtlebot3_manipulation_bringup/worlds/empty_world.model b/turtlebot3_manipulation_bringup/worlds/empty_world.model