Fix the Reset Trigger Service

[GyuH13]

Issue

In ROS 1, the Reset Trigger performed both gyro calibration and odometry reset correctly.
However, in ROS 2, there were two issues when using the Reset Trigger: #1126

1. The odometry reset was not executed

2. The service response returned an error message: "There is no status packet"

This PR addresses both issues.

Change

1. Implement odometry reset

The odometry reset logic was missing in the ROS 2 implementation.
This patch adds the missing implementation, allowing the odometry to be reset properly via the Reset Trigger service.
Now, calling the Reset Trigger will correctly reset the odometry.

2. Fix misleading service response message

The "There is no status packet" error occurred because:

Gyro calibration itself takes approximately 5 seconds

The code was waiting for an RX status packet for a shorter duration than the calibration time

As a result, the service incorrectly reported a failure even though the gyro calibration was actually in progress.

To resolve this:

The service response now indicates whether the trigger was successfully invoked, rather than waiting for the gyro calibration to fully complete

This prevents false error messages while maintaining correct behavior

[gemini-code-assist]

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 resolves critical issues in the TurtleBot3's ROS 2 Reset Trigger service. It introduces the long-awaited odometry reset functionality, allowing for proper recalibration of the robot's position and velocity. Additionally, it refines the service's response during gyro calibration to eliminate misleading error messages, providing a more accurate and reliable user experience for robot control and diagnostics.

Highlights

• Odometry Reset Implementation: The pull request implements the missing odometry reset logic for ROS 2. The Reset service now triggers a call to a newly created reset_odometry service, ensuring that the robot's pose and velocity can be reset.
• Improved Service Response for Gyro Calibration: The Reset service's response mechanism has been updated to prevent false error messages during gyro calibration. Instead of waiting for the 5-second calibration to complete, the service now immediately returns success = true and a message indicating that calibration has started and odometry reset is requested, accurately reflecting the initiation of the process.
• New Odometry Reset Service: A new ROS 2 service named reset_odometry has been introduced within the Odometry class. This service, when called, sets the robot's internal pose and velocity estimates to zero, providing a dedicated mechanism for odometry recalibration.

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[gemini-code-assist]

Code Review

This pull request fixes two issues with the Reset Trigger service: a non-functional odometry reset and a misleading service response. The changes introduce a new reset_odometry service and modify the reset logic to call it.

My review has identified a critical issue in turtlebot3_node/src/devices/reset.cpp where blocking calls (sleep_for) are used within a service handler on a single-threaded executor. This will freeze the node and should be replaced with an asynchronous approach, for which I've provided a detailed suggestion.

Additionally, I found that the new odometry reset logic in turtlebot3_node/src/odometry.cpp is incomplete, as it fails to reset all necessary state variables, which could lead to incorrect orientation calculations. I've suggested a fix for this as well.

[Copilot]

Pull request overview

This PR fixes two critical issues with the Reset Trigger service in ROS 2: the missing odometry reset functionality and misleading error messages during gyro calibration. The implementation adds a new reset_odometry service in the Odometry class and integrates it with the existing Reset service to provide complete reset functionality.

Key Changes:

• Implements odometry reset service to restore missing ROS 1 functionality
• Changes Reset service response to indicate trigger invocation success rather than waiting for calibration completion
• Establishes service client/server communication between Reset and Odometry components

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 4 comments.

File	Description
turtlebot3_node/include/turtlebot3_node/odometry.hpp	Adds reset service declaration, includes std_srvs header, and declares reset callback method
turtlebot3_node/src/odometry.cpp	Creates reset_odometry service and implements callback to reset robot pose and velocity
turtlebot3_node/include/turtlebot3_node/devices/reset.hpp	Adds service client member for calling reset_odometry
turtlebot3_node/src/devices/reset.cpp	Creates reset_odometry client, changes response handling, and makes async call to reset odometry after gyro calibration

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[yun-goon]

Please update the version and resolve the lint

[yun-goon]

Good!