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Merge pull request #49 from ROBOTIS-GIT/feature-humble-tb3-example
Updated Patrol.action to Support Updated Patrol Execution
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‎.github/workflows/ros-ci.yaml‎

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name: humble-devel
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# The name of the workflow
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name: CI
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# Controls when the action will run. Triggers the workflow on push or pull request
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# Specifies the events that trigger the workflow
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on:
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push:
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branches: [ humble-devel ]
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branches: [ main, humble ]
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pull_request:
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branches: [ humble-devel ]
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branches: [ main, humble ]
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# A workflow run is made up of one or more jobs that can run sequentially or in parallel
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# Defines a set of jobs to be run as part of the workflow
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jobs:
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humble-devel:
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runs-on: ubuntu-latest
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# The name of the job
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ROS_CI:
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runs-on: ubuntu-22.04
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strategy:
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fail-fast: false
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matrix:
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ros_distribution:
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# - dashing
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# - foxy
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# - galactic
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- humble
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# - jazzy
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# - rolling
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include:
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# # Dashing Diademata (May 2019 - May 2021)
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# - docker_image: ubuntu:bionic
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# ros_distribution: dashing
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# ros_version: 2
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# # Foxy Fitzroy (June 2020 - May 2023)
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# - docker_image: ubuntu:focal
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# ros_distribution: foxy
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# ros_version: 2
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# # Galactic Geochelone (May 2021)
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# - docker_image: ubuntu:focal
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# ros_distribution: galactic
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# ros_version: 2
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# Humble Hawksbill (May 2027)
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# ROS 2 Humble Hawksbill
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- docker_image: ubuntu:jammy
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ros_distribution: humble
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ros_version: 2
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# # Rolling
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# - docker_image: ubuntu:jammy
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# ROS 2 Jazzy Jalisco
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# - docker_image: ubuntu:noble
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# ros_distribution: jazzy
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# ros_version: 2
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# ROS 2 Rolling Ridley
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# - docker_image: ubuntu:noble
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# ros_distribution: rolling
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# ros_version: 2
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container:
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image: ${{ matrix.docker_image }}
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steps:
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- name: Setup directories
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- name: Setup workspace
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run: mkdir -p ros_ws/src
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- name: checkout
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uses: actions/checkout@v3
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- name: Checkout code
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uses: actions/checkout@v4
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with:
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path: ros_ws/src
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- name: Setup ROS environment
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uses: ros-tooling/setup-ros@0.3.3
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uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ matrix.ros_distribution }}
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- name: Build and Test
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uses: ros-tooling/action-ros-ci@0.2.5
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uses: ros-tooling/action-ros-ci@v0.3
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with:
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package-name: turtlebot3_msgs
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target-ros2-distro: ${{ matrix.ros_distribution }}
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vcs-repo-file-url: ""
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package-name: turtlebot3_msgs

‎.github/workflows/ros-lint.yml‎

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# The name of the workflow
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name: Lint
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# Specifies the events that trigger the workflow
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on:
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pull_request:
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# Defines a set of jobs to be run as part of the workflow
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jobs:
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ament_lint:
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runs-on: ubuntu-latest
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container:
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image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
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strategy:
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fail-fast: false
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matrix:
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linter: [flake8, pep257, lint_cmake, xmllint, copyright]
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- name: Setup ROS environment
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uses: ros-tooling/[email protected]
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- name: Run Linter
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env:
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AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
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uses: ros-tooling/action-ros-lint@master
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with:
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linter: ${{ matrix.linter }}
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distribution: rolling
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package-name: "*"

‎CHANGELOG.rst‎

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Changelog for package turtlebot3_msgs
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.2.3 (2202-05-26)
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2.3.0 (2025-02-19)
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------------------
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* Updated Patrol.action to Support Updated Patrol Execution
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* Contributors: Junyeong Jeong
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2.2.3 (2022-05-26)
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------------------
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* ROS2 Humble Hawksbill supported
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‎CMakeLists.txt‎

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find_package(ament_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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################################################################################
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# Setup for python modules and scripts
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${msg_files}
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${srv_files}
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${action_files}
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DEPENDENCIES action_msgs std_msgs
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DEPENDENCIES action_msgs std_msgs geometry_msgs
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ADD_LINTER_TESTS
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)
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ament_export_dependencies(rosidl_default_runtime)

‎CONTRIBUTING.md‎

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Any contribution that you make to this repository will
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be under the Apache 2 License, as dictated by that
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[license](http://www.apache.org/licenses/LICENSE-2.0.html):
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~~~
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5. Submission of Contributions. Unless You explicitly state otherwise,
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any Contribution intentionally submitted for inclusion in the Work
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by You to the Licensor shall be under the terms and conditions of
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this License, without any additional terms or conditions.
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Notwithstanding the above, nothing herein shall supersede or modify
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the terms of any separate license agreement you may have executed
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with Licensor regarding such Contributions.
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~~~
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Contributors must sign-off each commit by adding a `Signed-off-by: ...`
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line to commit messages to certify that they have the right to submit
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the code they are contributing to the project according to the
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[Developer Certificate of Origin (DCO)](https://developercertificate.org/).

‎LICENSE‎

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APPENDIX: How to apply the Apache License to your work.
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To apply the Apache License to your work, attach the following
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boilerplate notice, with the fields enclosed by brackets "{}"
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boilerplate notice, with the fields enclosed by brackets "[]"
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replaced with your own identifying information. (Don't include
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the brackets!) The text should be enclosed in the appropriate
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comment syntax for the file format. We also recommend that a
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file or class name and description of purpose be included on the
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same "printed page" as the copyright notice for easier
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identification within third-party archives.
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Copyright {yyyy} {name of copyright owner}
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Copyright [yyyy] [name of copyright owner]
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.

‎README.md‎

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# TurtleBot3
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<img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
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<img src="https://raw.githubusercontent.com/ROBOTIS-GIT/emanual/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
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- Active Branches: noetic, humble, main
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- Legacy Branches: *-devel
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## ROBOTIS e-Manual for TurtleBot3
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- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
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## Wiki for turtlebot3_msgs Packages
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- http://wiki.ros.org/turtlebot3_msgs
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## Open Source related to TurtleBot3
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## Open Source Projects Related to TurtleBot3
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- [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3)
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- [turtlebot3_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_msgs)
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- [turtlebot3_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_simulations)
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- [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs)
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- [turtlebot3_manipulation](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation)
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- [turtlebot3_manipulation_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations)
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- [turtlebot3_applications](https://github.com/ROBOTIS-GIT/turtlebot3_applications)
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- [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs)
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- [turtlebot3_machine_learning](https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning)
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- [turtlebot3_autorace](https://github.com/ROBOTIS-GIT/turtlebot3_autorace)
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- [turtlebot3_deliver](https://github.com/ROBOTIS-GIT/turtlebot3_deliver)
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- [turtlebot3_home_service_challenge](https://github.com/ROBOTIS-GIT/turtlebot3_home_service_challenge)
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- [hls_lfcd_lds_driver](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver)
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- [ld08_driver](https://github.com/ROBOTIS-GIT/ld08_driver)
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- [open_manipulator_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_msgs)
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- [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator)
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- [open_manipulator_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_simulations)
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- [open_manipulator_perceptions](https://github.com/ROBOTIS-GIT/open_manipulator_perceptions)
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- [open_manipulator_with_tb3_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_msgs)
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- [open_manipulator_with_tb3](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3)
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- [open_manipulator_with_tb3_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_simulations)
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- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
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- [dynamixel_workbench](https://github.com/ROBOTIS-GIT/dynamixel-workbench)
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- [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
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- [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
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## Documents and Videos related to TurtleBot3
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- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
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- [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/)
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- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
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- [ROBOTIS e-Manual for Dynamixel Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
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- [Website for TurtleBot Series](http://www.turtlebot.com/)
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- [e-Book for TurtleBot3](https://community.robotsource.org/t/download-the-ros-robot-programming-book-for-free/51/)
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- [Videos for TurtleBot3 ](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU)
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## Documentation, Videos, and Community
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### Official Documentation
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- ⚙️ **[ROBOTIS DYNAMIXEL](https://dynamixel.com/)** – Official website for DYNAMIXEL
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- 📚 **[ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)** – Official guide for Dynamixel SDK
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- 📚 **[ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)** – Official guide for TurtleBot3
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- 📚 **[ROBOTIS e-Manual for OpenMANIPULATOR-X](https://emanual.robotis.com/docs/en/platform/openmanipulator_x/overview/)** – Official guide for OpenMANIPULATOR-X
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### Learning Resources
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- 🎥 **[ROBOTIS YouTube Channel](https://www.youtube.com/@ROBOTISCHANNEL)**
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- 🎥 **[ROBOTIS Open Source YouTube Channel](https://www.youtube.com/@ROBOTISOpenSourceTeam)**
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- 🎥 **[ROBOTIS TurtleBot3 YouTube Playlist](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU)** – Video tutorials for TurtleBot3
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- 🎥 **[ROBOTIS OpenMANIPULATOR YouTube Playlist](https://www.youtube.com/playlist?list=PLRG6WP3c31_WpEsB6_Rdt3KhiopXQlUkb)** – Video tutorials for OpenMANIPULATOR
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### Community & Support
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- 💬 **[ROBOTIS Community Forum](https://forum.robotis.com/)** – Get help and discuss with other users

‎action/Patrol.action‎

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# Goal
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float32 radius
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# Define the goal
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geometry_msgs/Vector3 goal
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---
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# Result
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bool success
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# Define the result
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string result
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---
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# Feedback
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float32 left_time
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# Define a feedback message
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string state

‎package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>turtlebot3_msgs</name>
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<version>2.2.3</version>
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<version>2.3.0</version>
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<description>
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Message and service types: custom messages and services for TurtleBot3 packages for ROS2
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</description>
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<author email="[email protected]">Darby Lim</author>
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<author email="[email protected]">Gilbert</author>
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<author email="[email protected]">Vineet Ghatge</author>
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<author email="[email protected]">Junyeong Jeong</author>
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<author>Ryan Shim</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<build_depend>action_msgs</build_depend>
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<build_depend>builtin_interfaces</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>rosidl_default_runtime</build_depend>
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<build_depend>geometry_msgs</build_depend>
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<exec_depend>action_msgs</exec_depend>
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<exec_depend>builtin_interfaces</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<test_depend>ament_lint_common</test_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>

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