ROBOTIS-GIT · robotpilot · Feb 20, 2025 · Dec 4, 2024 · Feb 18, 2025 · Feb 18, 2025
diff --git a/.github/workflows/ros-ci.yaml b/.github/workflows/ros-ci.yaml
@@ -1,62 +1,57 @@
-name: humble-devel
+# The name of the workflow
+name: CI
 
-# Controls when the action will run. Triggers the workflow on push or pull request
+# Specifies the events that trigger the workflow
 on:
   push:
-    branches: [ humble-devel ]
+    branches: [ main, humble, jazzy]
   pull_request:
-    branches: [ humble-devel ]
+    branches: [ main, humble, jazzy]
 
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+# Defines a set of jobs to be run as part of the workflow
 jobs:
-  humble-devel:
-    runs-on: ubuntu-latest
+  # The name of the job
+  ROS_CI:
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
         ros_distribution:
-          # - dashing
-          # - foxy
-          # - galactic
           - humble
-          # - rolling
+          - jazzy
+          - rolling
         include:
-          #  # Dashing Diademata (May 2019 - May 2021)
-          # - docker_image: ubuntu:bionic
-          #   ros_distribution: dashing
-          #   ros_version: 2
-          #  # Foxy Fitzroy (June 2020 - May 2023)
-          # - docker_image: ubuntu:focal
-          #   ros_distribution: foxy
-          #   ros_version: 2
-          #   # Galactic Geochelone (May 2021)
-          # - docker_image: ubuntu:focal
-          #   ros_distribution: galactic
-          #   ros_version: 2
-            # Humble Hawksbill (May 2027)
+          # ROS 2 Humble Hawksbill
           - docker_image: ubuntu:jammy
             ros_distribution: humble
             ros_version: 2
-          #   # Rolling
-          # - docker_image: ubuntu:jammy
-          #   ros_distribution: rolling
-          #   ros_version: 2
+          # ROS 2 Jazzy Jalisco
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ros_version: 2
+          # ROS 2 Rolling Ridley
+          - docker_image: ubuntu:noble
+            ros_distribution: rolling
+            ros_version: 2
     container:
       image: ${{ matrix.docker_image }}
     steps:
-      - name: Setup directories
+      - name: Setup workspace
         run: mkdir -p ros_ws/src
-      - name: checkout
-        uses: actions/checkout@v3
+
+      - name: Checkout code
+        uses: actions/checkout@v4
         with:
           path: ros_ws/src
+
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@0.3.3
+        uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
+
       - name: Build and Test
-        uses: ros-tooling/action-ros-ci@0.2.5
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
-          package-name: turtlebot3_msgs
           target-ros2-distro: ${{ matrix.ros_distribution }}
           vcs-repo-file-url: ""
+          package-name: turtlebot3_msgs
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: [flake8, pep257, lint_cmake, xmllint, copyright]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup ROS environment
+        uses: ros-tooling/[email protected]
+
+      - 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/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,9 +2,15 @@
 Changelog for package turtlebot3_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.2.3 (2202-05-26)
+2.3.0 (2025-02-19)
 ------------------
-* ROS2 Humble Hawksbill supported
+* Updated Patrol.action to support updated patrol example
+* Contributors: Junyeong Jeong
+
+2.2.3 (2022-05-26)
+------------------
+* ROS 2 Humble Hawksbill supported
+* Contributors: Will Son
 
 2.2.2 (2021-06-14)
 ------------------

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(action_msgs REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
 
 ################################################################################
 # Setup for python modules and scripts
@@ -46,7 +47,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
   ${srv_files}
   ${action_files}
-  DEPENDENCIES action_msgs std_msgs
+  DEPENDENCIES action_msgs std_msgs geometry_msgs
   ADD_LINTER_TESTS
 )
 ament_export_dependencies(rosidl_default_runtime)

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,18 @@
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).
diff --git a/LICENSE b/LICENSE
@@ -178,15 +178,15 @@
    APPENDIX: How to apply the Apache License to your work.
 
       To apply the Apache License to your work, attach the following
-      boilerplate notice, with the fields enclosed by brackets "{}"
+      boilerplate notice, with the fields enclosed by brackets "[]"
       replaced with your own identifying information. (Don't include
       the brackets!)  The text should be enclosed in the appropriate
       comment syntax for the file format. We also recommend that a
       file or class name and description of purpose be included on the
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
-   Copyright {yyyy} {name of copyright owner}
+   Copyright [yyyy] [name of copyright owner]
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

diff --git a/README.md b/README.md
@@ -1,54 +1,41 @@
 # TurtleBot3
+<img src="https://raw.githubusercontent.com/ROBOTIS-GIT/emanual/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
 
-<img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
+- Active Branches: noetic, humble, jazzy, main
+- Legacy Branches: *-devel
 
-[![kinetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/tree/kinetic-devel)
-
-[![melodic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/tree/melodic-devel)
-
-[![noetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/tree/noetic-devel)
-
-[![dashing-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/workflows/dashing-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/tree/dashing-devel)
-
-[![foxy-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/tree/foxy-devel)
-
-[![galactic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/tree/galactic-devel)
-
-[![humble-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/workflows/humble-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_msgs/tree/humble-devel)
-
-## ROBOTIS e-Manual for TurtleBot3
-- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
-
-## Wiki for turtlebot3_msgs Packages
-- http://wiki.ros.org/turtlebot3_msgs
-
-## Open Source related to TurtleBot3
+## Open Source Projects Related to TurtleBot3
 - [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3)
 - [turtlebot3_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_msgs)
 - [turtlebot3_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_simulations)
-- [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs)
+- [turtlebot3_manipulation](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation)
+- [turtlebot3_manipulation_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations)
 - [turtlebot3_applications](https://github.com/ROBOTIS-GIT/turtlebot3_applications)
+- [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs)
+- [turtlebot3_machine_learning](https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning)
 - [turtlebot3_autorace](https://github.com/ROBOTIS-GIT/turtlebot3_autorace)
-- [turtlebot3_deliver](https://github.com/ROBOTIS-GIT/turtlebot3_deliver)
+- [turtlebot3_home_service_challenge](https://github.com/ROBOTIS-GIT/turtlebot3_home_service_challenge)
 - [hls_lfcd_lds_driver](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver)
 - [ld08_driver](https://github.com/ROBOTIS-GIT/ld08_driver)
-- [open_manipulator_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_msgs)
 - [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator)
-- [open_manipulator_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_simulations)
-- [open_manipulator_perceptions](https://github.com/ROBOTIS-GIT/open_manipulator_perceptions)
-- [open_manipulator_with_tb3_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_msgs)
-- [open_manipulator_with_tb3](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3)
-- [open_manipulator_with_tb3_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_simulations)
 - [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
-- [dynamixel_workbench](https://github.com/ROBOTIS-GIT/dynamixel-workbench)
 - [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
 - [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
 
-## Documents and Videos related to TurtleBot3
-- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
-- [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/)
-- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
-- [ROBOTIS e-Manual for Dynamixel Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
-- [Website for TurtleBot Series](http://www.turtlebot.com/)
-- [e-Book for TurtleBot3](https://community.robotsource.org/t/download-the-ros-robot-programming-book-for-free/51/)
-- [Videos for TurtleBot3 ](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU)
+## Documentation, Videos, and Community
+
+### Official Documentation
+- ⚙️ **[ROBOTIS DYNAMIXEL](https://dynamixel.com/)**
+- 📚 **[ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)**
+- 📚 **[ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)**
+- 📚 **[ROBOTIS e-Manual for OpenMANIPULATOR-X](https://emanual.robotis.com/docs/en/platform/openmanipulator_x/overview/)**
+
+### Learning Resources
+- 🎥 **[ROBOTIS YouTube Channel](https://www.youtube.com/@ROBOTISCHANNEL)**
+- 🎥 **[ROBOTIS Open Source YouTube Channel](https://www.youtube.com/@ROBOTISOpenSourceTeam)**
+- 🎥 **[ROBOTIS TurtleBot3 YouTube Playlist](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU)**
+- 🎥 **[ROBOTIS OpenMANIPULATOR YouTube Playlist](https://www.youtube.com/playlist?list=PLRG6WP3c31_WpEsB6_Rdt3KhiopXQlUkb)**
+
+### Community & Support
+- 💬 **[ROBOTIS Community Forum](https://forum.robotis.com/)**
+- 💬 **[TurtleBot category from ROS Community](https://discourse.ros.org/c/turtlebot/)**
diff --git a/action/Patrol.action b/action/Patrol.action
@@ -1,8 +1,8 @@
-# Goal
-float32 radius
+# Define the goal
+geometry_msgs/Vector3 goal
 ---
-# Result
-bool success
+# Define the result
+string result
 ---
-# Feedback
-float32 left_time
+# Define a feedback message
+string state
diff --git a/package.xml b/package.xml
@@ -2,11 +2,11 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_msgs</name>
-  <version>2.2.3</version>
+  <version>2.3.0</version>
   <description>
-    Message and service types: custom messages and services for TurtleBot3 packages for ROS2
+    Message and service types: custom messages and services for TurtleBot3 packages for ROS 2
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">http://wiki.ros.org/turtlebot3_msgs</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_msgs</url>
@@ -15,17 +15,21 @@
   <author email="[email protected]">Darby Lim</author>
   <author email="[email protected]">Gilbert</author>
   <author email="[email protected]">Vineet Ghatge</author>
+  <author email="[email protected]">Junyeong Jeong</author>
   <author>Ryan Shim</author>
+  <author email="[email protected]">Will Son</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <build_depend>action_msgs</build_depend>
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>rosidl_default_runtime</build_depend>
-
+  <build_depend>geometry_msgs</build_depend>
+
   <exec_depend>action_msgs</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <test_depend>ament_lint_common</test_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>