Bump 2.3.6

ISSUE_TEMPLATE.md

@@ -1,4 +1,4 @@
-ISSUE TEMPLATE ver. 0.4.2
+ISSUE TEMPLATE ver. 0.4.3
 
 **Please search for similar issues in the repository before submit an issue ticket.**
 
@@ -11,6 +11,7 @@ ISSUE TEMPLATE ver. 0.4.2
 
     - [ ] Raspberry Pi 3 B+
     - [ ] Raspberry Pi 4 (specify RAM size: 2/4/8GB)
+    - [ ] Raspberry Pi 5 (specify RAM size: 2/4/8GB)
     - [ ] other (specify the product)
 
 3. Which OS is installed on the TurtleBot3 SBC?
@@ -19,6 +20,7 @@ ISSUE TEMPLATE ver. 0.4.2
     - [ ] Ubuntu preinstalled server 18.04
     - [ ] Ubuntu preinstalled server 20.04
     - [ ] Ubuntu preinstalled server 22.04
+    - [ ] Ubuntu preinstalled server 24.04
     - [ ] other (specify the OS)
 
 4. Which OS is installed on Remote PC?
@@ -27,6 +29,7 @@ ISSUE TEMPLATE ver. 0.4.2
     - [ ] Ubuntu 18.04 LTS (Bionic Beaver)
     - [ ] Ubuntu 20.04 LTS (Focal Fossa)
     - [ ] Ubuntu 22.04 LTS (Jammy Jellyfish)
+    - [ ] Ubuntu 24.04 LTS (Noble Numbat)
     - [ ] other (specify the OS)
 
 5. Which ROS version do you use?
@@ -39,6 +42,7 @@ ISSUE TEMPLATE ver. 0.4.2
     - [ ] ROS2 Foxy Fitzroy
     - [ ] ROS2 Galactic Geochelone
     - [ ] ROS2 Humble Hawksbill
+    - [ ] ROS2 Jazzy Jellyfish
     - [ ] ROS2 Rolling Ridley
 
 6. Please describe the issue.

README.md

@@ -1,8 +1,8 @@
 # TurtleBot3
 <img src="https://raw.githubusercontent.com/ROBOTIS-GIT/emanual/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
 
-- Active Branches: noetic, humble, jazzy, main(rolling)
-- Legacy Branches: *-devel
+- Active Branches: humble, jazzy, main(rolling)
+- Legacy Branches: *-devel, noetic
 
 ## Open Source Projects Related to TurtleBot3
 - [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3)
@@ -17,6 +17,7 @@
 - [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)
+- [coin_d4_driver](https://github.com/ROBOTIS-GIT/coin_d4_driver)
 - [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator)
 - [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
 - [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)

docker/humble/Dockerfile

@@ -21,12 +21,34 @@ RUN apt-get update && \
     ros-${ROS_DISTRO}-cartographer-ros \
     ros-${ROS_DISTRO}-navigation2 \
     ros-${ROS_DISTRO}-nav2-bringup \
+    ros-${ROS_DISTRO}-nav2-route \
     ros-${ROS_DISTRO}-turtlebot3-msgs \
     ros-${ROS_DISTRO}-dynamixel-sdk \
     ros-${ROS_DISTRO}-xacro \
     ros-${ROS_DISTRO}-hls-lfcd-lds-driver \
     ros-${ROS_DISTRO}-ld08-driver \
     ros-${ROS_DISTRO}-coin-d4-driver \
+    ros-${ROS_DISTRO}-camera-ros \
+    ros-${ROS_DISTRO}-urdf \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    python3-pip \
+    python3-jinja2 \
+    ninja-build \
+    libgnutls28-dev \
+    openssl \
+    libtiff-dev \
+    pybind11-dev \
+    qtbase5-dev \
+    libqt5core5a \
+    libqt5widgets5 \
+    cmake \
+    python3-yaml \
+    python3-ply \
+    libglib2.0-dev \
+    libgstreamer-plugins-base1.0-dev \
     && rm -rf /var/lib/apt/lists/*
 
 WORKDIR ${COLCON_WS}
@@ -39,10 +61,21 @@ RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
     cd ${COLCON_WS} && \
     colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
+RUN python3 -m pip config set global.break-system-packages true
+RUN pip3 install meson
+
+WORKDIR /root
+RUN git clone -b v0.5.2 --depth 1 https://github.com/raspberrypi/libcamera.git && \
+    cd libcamera && \
+    meson setup build --buildtype=release -Dpipelines=rpi/vc4,rpi/pisp -Dipas=rpi/vc4,rpi/pisp -Dv4l2=true -Dgstreamer=enabled -Dtest=false -Dlc-compliance=disabled -Dcam=disabled -Dqcam=disabled -Ddocumentation=disabled -Dpycamera=enabled && \
+    ninja -C build install && \
+    ldconfig
+
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
     echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \
     echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \
     echo "export ROS_DOMAIN_ID=30 # TURTLEBOT3" >> ~/.bashrc && \
+    echo 'export LD_LIBRARY_PATH=/usr/local/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH' >> ~/.bashrc && \
     echo "# export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \
     echo "# export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc
 

docker/humble/docker-compose.yml

@@ -4,7 +4,7 @@ services:
     image: robotis/turtlebot3:humble-latest
     # build:
     #   context: .
-    #   dockerfile: Dockerfile.pc
+    #   dockerfile: Dockerfile
     tty: true
     restart: unless-stopped
     cap_add:
@@ -22,6 +22,7 @@ services:
     volumes:
       - /dev:/dev
       - /dev/shm:/dev/shm
+      - /run/udev:/run/udev
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
       - ./workspace:/workspace

docker/jazzy/Dockerfile

@@ -28,6 +28,27 @@ RUN apt-get update && \
     ros-${ROS_DISTRO}-hls-lfcd-lds-driver \
     ros-${ROS_DISTRO}-ld08-driver \
     ros-${ROS_DISTRO}-coin-d4-driver \
+    ros-${ROS_DISTRO}-camera-ros \
+    ros-${ROS_DISTRO}-urdf \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    python3-pip \
+    python3-jinja2 \
+    ninja-build \
+    libgnutls28-dev \
+    openssl \
+    libtiff-dev \
+    pybind11-dev \
+    qtbase5-dev \
+    libqt5core5a \
+    libqt5widgets5 \
+    cmake \
+    python3-yaml \
+    python3-ply \
+    libglib2.0-dev \
+    libgstreamer-plugins-base1.0-dev \
     && rm -rf /var/lib/apt/lists/*
 
 WORKDIR ${COLCON_WS}
@@ -40,10 +61,21 @@ RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
     cd ${COLCON_WS} && \
     colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
+RUN python3 -m pip config set global.break-system-packages true
+RUN pip3 install meson
+
+WORKDIR /root
+RUN git clone -b v0.5.2 --depth 1 https://github.com/raspberrypi/libcamera.git && \
+    cd libcamera && \
+    meson setup build --buildtype=release -Dpipelines=rpi/vc4,rpi/pisp -Dipas=rpi/vc4,rpi/pisp -Dv4l2=true -Dgstreamer=enabled -Dtest=false -Dlc-compliance=disabled -Dcam=disabled -Dqcam=disabled -Ddocumentation=disabled -Dpycamera=enabled && \
+    ninja -C build install && \
+    ldconfig
+
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
     echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \
     echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \
     echo "export ROS_DOMAIN_ID=30 # TURTLEBOT3" >> ~/.bashrc && \
+    echo 'export LD_LIBRARY_PATH=/usr/local/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH' >> ~/.bashrc && \
     echo "# export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \
     echo "# export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc
 

docker/jazzy/docker-compose.yml

@@ -22,6 +22,7 @@ services:
     volumes:
       - /dev:/dev
       - /dev/shm:/dev/shm
+      - /run/udev:/run/udev
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
       - ./workspace:/workspace

turtlebot3/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package turtlebot3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.6 (2025-12-15)
+------------------
+* Fixed an issue where the reset trigger did not work correctly
+* Contributors: Hyungyu Kim
+
+2.3.5 (2025-12-09)
+------------------
+* Supported Pi Camera in Docker containers for TurtleBot3 with Humble and Jazzy
+* Contributors: Hyungyu Kim
+
 2.3.4 (2025-10-24)
 ------------------
 * Supported Docker for TurtleBot3 with Humble and Jazzy

turtlebot3/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</name>
-  <version>2.3.4</version>
+  <version>2.3.6</version>
   <description>
     ROS 2 packages for TurtleBot3
   </description>

turtlebot3_bringup/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package turtlebot3_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.6 (2025-12-15)
+------------------
+* None
+
+2.3.5 (2025-12-09)
+------------------
+* None
+
 2.3.4 (2025-10-24)
 ------------------
 * None

turtlebot3_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_bringup</name>
-  <version>2.3.4</version>
+  <version>2.3.6</version>
   <description>
     ROS 2 launch scripts for starting the TurtleBot3
   </description>

turtlebot3_cartographer/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package turtlebot3_cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.6 (2025-12-15)
+------------------
+* None
+
+2.3.5 (2025-12-09)
+------------------
+* None
+
 2.3.4 (2025-10-24)
 ------------------
 * None

turtlebot3_cartographer/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_cartographer</name>
-  <version>2.3.4</version>
+  <version>2.3.6</version>
   <description>
     ROS 2 launch scripts for cartographer
   </description>

turtlebot3_description/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package turtlebot3_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.6 (2025-12-15)
+------------------
+* None
+
+2.3.5 (2025-12-09)
+------------------
+* None
+
 2.3.4 (2025-10-24)
 ------------------
 * None

turtlebot3_description/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_description</name>
-  <version>2.3.4</version>
+  <version>2.3.6</version>
   <description>
     3D models of the TurtleBot3 for simulation and visualization
   </description>

turtlebot3_example/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package turtlebot3_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.6 (2025-12-15)
+------------------
+* None
+
+2.3.5 (2025-12-09)
+------------------
+* None
+
 2.3.4 (2025-10-24)
 ------------------
 * None

turtlebot3_example/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_example</name>
-  <version>2.3.4</version>
+  <version>2.3.6</version>
   <description>
     This package provides four basic examples for TurtleBot3 (i.e., interactive marker, object detection, patrol and position control).
   </description>

turtlebot3_example/setup.py

@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version='2.3.4',
+    version='2.3.6',
     packages=find_packages(),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),

turtlebot3_navigation2/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package turtlebot3_navigation2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.6 (2025-12-15)
+------------------
+* None
+
+2.3.5 (2025-12-09)
+------------------
+* None
+
 2.3.4 (2025-10-24)
 ------------------
 * None

turtlebot3_navigation2/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_navigation2</name>
-  <version>2.3.4</version>
+  <version>2.3.6</version>
   <description>
     ROS 2 launch scripts for navigation2
   </description>

turtlebot3_node/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package turtlebot3_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.6 (2025-12-15)
+------------------
+* Fixed an issue where the reset trigger did not work correctly
+* Contributors: Hyungyu Kim
+
+2.3.5 (2025-12-09)
+------------------
+* None
+
 2.3.4 (2025-10-24)
 ------------------
 * None

turtlebot3_node/include/turtlebot3_node/devices/reset.hpp

@@ -46,6 +46,7 @@ class Reset : public Devices
 
 private:
   rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr srv_;
+  rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr reset_odom_client_;
 };
 }  // namespace devices
 }  // namespace turtlebot3

turtlebot3_node/include/turtlebot3_node/odometry.hpp

@@ -33,6 +33,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
+#include <std_srvs/srv/trigger.hpp>
 
 
 namespace robotis
@@ -51,6 +52,10 @@ class Odometry
 private:
   bool calculate_odometry(const rclcpp::Duration & duration);
 
+  void reset_odometry_callback(
+    const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
+    std::shared_ptr<std_srvs::srv::Trigger::Response> response);
+
   void update_imu(const std::shared_ptr<sensor_msgs::msg::Imu const> & imu);
   void update_joint_state(const std::shared_ptr<sensor_msgs::msg::JointState const> & joint_state);
 
@@ -67,6 +72,7 @@ class Odometry
 
   rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
   rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub_;
+  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr reset_odom_srv_;
 
   std::shared_ptr<
     message_filters::Subscriber<sensor_msgs::msg::JointState>> msg_ftr_joint_state_sub_;