Bump 2.2.1 #88
Bump 2.2.1 #88
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GyuH13
commented
Jun 10, 2025
GyuH13
commented
- Remove mongo warehouse in package xml
- Lint
- Transfer gazebo to the TurtleBot3_simulation repository
Remove Gazebo simulation package
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Summary of Changes
Hello @GyuH13, 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!
This pull request primarily focuses on bumping the package versions to 2.2.1 and restructuring the repository by removing the Gazebo simulation components and the warehouse_ros_mongo dependency. The simulation assets and launch files are being moved to a dedicated simulation repository. Additionally, several minor code style and linting improvements have been made across the codebase.
Highlights
- Version Bump: The version has been bumped to 2.2.1 across all
turtlebot3_manipulationrelated packages. - Gazebo Simulation Removal: The Gazebo simulation components and related dependencies (
gazebo_ros) have been removed from this repository, as they are being transferred to theTurtleBot3_simulationrepository. This includes removing theworldsdirectory from installation inturtlebot3_manipulation_bringup. - Warehouse Dependency Removal: The dependency on
warehouse_ros_mongohas been removed fromturtlebot3_manipulation_moveit_configand the corresponding configuration in the RViz file has been commented out. - Code Style/Linting: Various minor code style fixes have been applied, including reordering imports, removing unused imports, and standardizing string quotes in Python launch files and C++ code.
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| # MoveIt_Warehouse_Host: 127.0.0.1 | ||
| # MoveIt_Warehouse_Port: 33829 |
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Commenting out the warehouse host and port is appropriate since the MongoDB warehouse functionality is being removed.
| 'request_adapters': ( | ||
| 'default_planner_request_adapters/AddTimeOptimalParameterization ' | ||
| 'default_planner_request_adapters/FixWorkspaceBounds ' | ||
| 'default_planner_request_adapters/FixStartStateBounds ' | ||
| 'default_planner_request_adapters/FixStartStateCollision ' | ||
| 'default_planner_request_adapters/FixStartStatePathConstraints' | ||
| ), |
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Using parenthesized string concatenation improves readability for long strings.
| 'turtlebot3_manipulation', | ||
| package_name='turtlebot3_manipulation_moveit_config').to_moveit_configs() |
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The formatting of the MoveItConfigsBuilder constructor is improved by breaking it into multiple lines.
| #include <control_msgs/action/gripper_command.hpp> | ||
| #include <control_msgs/msg/gripper_command.hpp> | ||
| #include <control_msgs/msg/joint_jog.hpp> | ||
| #include <geometry_msgs/msg/twist_stamped.hpp> | ||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <rclcpp_action/rclcpp_action.hpp> | ||
| #include <std_srvs/srv/trigger.hpp> |
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Reordering the include directives improves code organization.
| client_ = rclcpp_action::create_client<control_msgs::action::GripperCommand>( | ||
| nh_, "gripper_controller/gripper_cmd"); |
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Breaking the long line improves readability.
