Merge pull request #335 from ROBOTIS-GIT/feature-develop

Correct offset parameter order in joint_trajectory_command_broadcaster and changed packing positions

Author: robotpilot

docker/Dockerfile

@@ -36,7 +36,7 @@ RUN mkdir -p ${COLCON_WS}/src && \
 RUN cd ${COLCON_WS} && \
     apt-get update && \
     rosdep update && \
-    rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys="librealsense2 dynamixel_hardware_interface dynamixel_interfaces dynamixel_sdk open_manipulator" -y && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys="librealsense2" -y && \
     rm -rf /var/lib/apt/lists/*
 
 RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
@@ -45,6 +45,7 @@ RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
 
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc  && \
     echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc  && \
-    echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc
+    echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \
+    echo "export ROS_DOMAIN_ID=30" >> ~/.bashrc
 
 CMD ["bash"]

open_manipulator/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package open_manipulator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.7 (2025-07-17)
+------------------
+* Fixed joint offset functionality of joint trajectory command broadcaster
+* Updated launch files for OMY Packing and Unpacking
+* Contributors: Woojin Wie
+
 4.0.6 (2025-07-15)
 ------------------
 * Renamed omx to open_manipulator_x

open_manipulator/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>open_manipulator</name>
-  <version>4.0.6</version>
+  <version>4.0.7</version>
   <description>
     OpenMANIPULATOR meta ROS 2 package.
   </description>

open_manipulator_bringup/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package open_manipulator_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.7 (2025-07-17)
+------------------
+* Updated launch files for OMY Packing and Unpacking
+* Contributors: Woojin Wie
+
 4.0.6 (2025-07-15)
 ------------------
 * Renamed omx to open_manipulator_x

open_manipulator_bringup/config/omy_3m/pack_positions.yaml

@@ -0,0 +1,19 @@
+joint_trajectory_executor:
+  ros__parameters:
+    joint_names:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
+
+    step_names: [home, pack]  # Names of the steps
+
+    home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]  # Initial position
+    pack: [0.0, 0.0, -2.61799, -0.52360, 0.0, 0.0]  # Pack position
+
+    duration: 10.0
+    epsilon: 0.01
+    action_topic: '/arm_controller/follow_joint_trajectory'
+    joint_states_topic: '/joint_states'

open_manipulator_bringup/launch/omy_3m_pack.launch.py

@@ -16,47 +16,32 @@
 #
 # Author: Sungho Woo, Woojin Wie
 
+import os
+
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess
+from launch.actions import IncludeLaunchDescription
 from launch.actions import LogInfo
-from launch.actions import RegisterEventHandler
-from launch.event_handlers import OnProcessStart
-from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
-    # Step 1: Start follower launch file
-    start_y = ExecuteProcess(
-        cmd=[
-            'ros2',
-            'launch',
-            'open_manipulator_bringup',
-            'omy_3m.launch.py',
-        ],
-        output='screen',
-    )
+    # Get the package share directory
+    pkg_share = get_package_share_directory('open_manipulator_bringup')
+
+    # Path to the omy_3m.launch.py file
+    omy_3m_launch_file = os.path.join(pkg_share, 'launch', 'omy_3m.launch.py')
 
-    # Step 2: Run the initialization script for the follower with pack mode
-    omy_3m_pack = Node(
-        package='open_manipulator_bringup',
-        executable='pack_unpack_3m',
-        output='screen',
-        parameters=[{'operation_mode': 'pack'}],
+    # Include the omy_3m.launch.py with pack parameters
+    omy_3m_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([omy_3m_launch_file]),
+        launch_arguments={
+            'init_position': 'true',
+            'init_position_file': 'pack_positions.yaml'
+        }.items()
     )
 
     return LaunchDescription([
-        LogInfo(msg='🚀 Starting omy_3m.launch.py...'),
-        start_y,
-        RegisterEventHandler(
-            OnProcessStart(
-                target_action=start_y,
-                on_start=[
-                    LogInfo(
-                        msg='✅ omy_3m.launch.py has fully started.'
-                        'Start to pack...'
-                    ),
-                    omy_3m_pack,
-                ],
-            )
-        ),
+        LogInfo(msg='Starting OMY packing...'),
+        omy_3m_launch,
     ])

open_manipulator_bringup/launch/omy_3m_unpack.launch.py

@@ -16,47 +16,32 @@
 #
 # Author: Sungho Woo, Woojin Wie
 
+import os
+
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess
+from launch.actions import IncludeLaunchDescription
 from launch.actions import LogInfo
-from launch.actions import RegisterEventHandler
-from launch.event_handlers import OnProcessStart
-from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
-    # Step 1: Start follower launch file
-    start_y = ExecuteProcess(
-        cmd=[
-            'ros2',
-            'launch',
-            'open_manipulator_bringup',
-            'omy_3m.launch.py',
-        ],
-        output='screen',
-    )
+    # Get the package share directory
+    pkg_share = get_package_share_directory('open_manipulator_bringup')
+
+    # Path to the omy_3m.launch.py file
+    omy_3m_launch_file = os.path.join(pkg_share, 'launch', 'omy_3m.launch.py')
 
-    # Step 2: Run the initialization script for the follower with unpack mode
-    omy_3m_unpack = Node(
-        package='open_manipulator_bringup',
-        executable='pack_unpack_3m',
-        output='screen',
-        parameters=[{'operation_mode': 'unpack'}],
+    # Include the omy_3m.launch.py with pack parameters
+    omy_3m_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([omy_3m_launch_file]),
+        launch_arguments={
+            'init_position': 'true',
+            'init_position_file': 'initial_positions.yaml'
+        }.items()
     )
 
     return LaunchDescription([
-        LogInfo(msg='🚀 Starting omy_3m.launch.py...'),
-        start_y,
-        RegisterEventHandler(
-            OnProcessStart(
-                target_action=start_y,
-                on_start=[
-                    LogInfo(
-                        msg='✅ omy_3m.launch.py has fully started.'
-                        'Start to unpack...'
-                    ),
-                    omy_3m_unpack,
-                ],
-            )
-        ),
+        LogInfo(msg='Starting OMY unpacking...'),
+        omy_3m_launch,
     ])