ROBOTIS-GIT · travis-mendoza · Apr 16, 2025 · Apr 17, 2025 · May 12, 2025 · May 12, 2025
diff --git a/.gitignore b/.gitignore
@@ -59,3 +59,6 @@ build-*/
 *.txt.user
 *.gch
 /.project
+
+# IDE specific files
+.vscode/
diff --git a/AGENTS.md b/AGENTS.md
@@ -0,0 +1,23 @@
+# TurtleBot3 ROS 2 Codebase Guide
+
+## Build Commands
+- **Build single package**: `colcon build --packages-select turtlebot3_node`
+- **Build all**: `colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release`
+- **Source workspace**: `source install/setup.bash`
+- **Launch robot**: Launching the robot is only possible from the turtlebot's raspberry pi. You, the agentic coding tool, only operate on the codebase from the remote PC. Therefore launching is not something you can do.
+- **View analog data**: `ros2 topic echo /analog_pins`
+
+## Architecture
+- **Main packages**: `turtlebot3_node` (core driver), `turtlebot3_bringup` (launch files), `turtlebot3_description` (URDF), `turtlebot3_navigation2`, `turtlebot3_teleop`
+- **Core class**: `robotis::turtlebot3::TurtleBot3` - main node managing sensors, devices, motors
+- **New feature**: Analog pins A0-A5 published to `/analog_pins` topic via `AnalogPins` sensor class
+- **Communication**: Uses DynamixelSDKWrapper to read from OpenCR control table addresses 350-360 for analog pins
+- **Dependencies**: ROS 2 Humble, Dynamixel SDK, custom OpenCR firmware with analog support
+
+## Code Style
+- **Standard**: C++17, follows ROS 2 conventions
+- **Naming**: snake_case for variables/functions, PascalCase for classes, namespaces: `robotis::turtlebot3::`
+- **Includes**: System includes first, then ROS msgs, then local headers with relative paths
+- **Error handling**: try-catch blocks with RCLCPP_ERROR logging
+- **Memory**: Smart pointers (std::shared_ptr, std::unique_ptr), RAII patterns
+- **Formatting**: 2-space indentation, header guards with full path, Apache 2.0 license headers
diff --git a/README.md b/README.md
@@ -1,41 +1,36 @@
-# TurtleBot3
-<img src="https://raw.githubusercontent.com/ROBOTIS-GIT/emanual/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
+# Overview
+This is a fork of [ROBOTIS-GIT/turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3). This `publish-analog-pins` branch extends the `turtlebot3_node` to broadcast data collected by the OpenCR analog pins A0-A5 to a ROS 2 topic `/analog_pins`. The `main` branch is kept in sync with the ROBOTIS repository.
 
-- Active Branches: noetic, humble, jazzy, main(rolling)
-- Legacy Branches: *-devel
+This repo is part of the larger project [ez-turtlebot3](https://github.com/ez-turtlebot3/ez-turtlebot3), which combines this repo with analog-enabled [OpenCR](https://github.com/ez-turtlebot3/OpenCR) firmware and a [ROS 2 analog processor package](https://github.com/ez-turtlebot3/ez_analog_processor/branches) to read, process, and publish analog data while operating a TurtleBot3.
+
+# Requirements
+* [ROS 2 Humble](https://docs.ros.org/en/humble/index.html)
+* [Analog-enabled TurtleBot3 ROS 2 OpenCR firmware](https://github.com/ez-turtlebot3/OpenCR)
 
-## 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_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_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](https://github.com/ROBOTIS-GIT/open_manipulator)
-- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
-- [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
-- [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
+# Installation
+1. If you haven't already, follow the Humble instructions for the [TurtleBot3 SBC setup](https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup)
+2. Replace the turtlebot3 repo with the analog-enabled fork
+  * `cd ~/turtlebot3_ws/src`
+  * `rm -rf turtlebot3`
+  * `git clone https://github.com/ez-turtlebot3/turtlebot3`
+3. Rebuild the turtlebot3_node
+  * `cd ~/turtlebot3_ws`
+  * `colcon build --packages-select turtlebot3_node`
 
-## Documentation, Videos, and Community
+# Use
+1. Launch the TurtleBot with the same bringup command as before
+  * `ros2 launch turtlebot3_bringup robot.launch.py`
+2. View the /analog_pins topic from your remote pc with
+  * `ros2 topic echo /analog_pins`
+3. Optionally, install the [ROS 2 analog processor package](https://github.com/ez-turtlebot3/ez_analog_processor/branches) to process the raw data from `/analog_pins`.
+4. Recommendation: view real-time data in plots with [PlotJuggler](https://github.com/facontidavide/PlotJuggler)
 
-### Official Documentation
+# ROBOTIS links
+## 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
+## Community & Support
 - 💬 **[ROBOTIS Community Forum](https://forum.robotis.com/)**
 - 💬 **[TurtleBot category from ROS Community](https://discourse.ros.org/c/turtlebot/)**
diff --git a/turtlebot3_bringup/launch/robot.launch.py b/turtlebot3_bringup/launch/robot.launch.py
@@ -96,7 +96,10 @@ def generate_launch_description():
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                [ThisLaunchFileDir(), '/turtlebot3_state_publisher.launch.py']),
+                [os.path.join(
+                    get_package_share_directory('turtlebot3_bringup'),
+                    'launch',
+                    'turtlebot3_state_publisher.launch.py')]),
             launch_arguments={'use_sim_time': use_sim_time,
                               'namespace': namespace}.items(),
         ),

diff --git a/turtlebot3_bringup/param/humble/burger.yaml b/turtlebot3_bringup/param/humble/burger.yaml
@@ -26,6 +26,9 @@
         illumination: 0
         ir: 0
         sonar: 0
+        # Analog pins to read from (0-5). Must match firmware CONNECTED_ANALOG_PINS configuration
+        analog_pins: [2, 3, 4]
+
 /**:
   diff_drive_controller:
     ros__parameters: