Update simulation for machine learning jazzy version

.github/workflows/ros-ci.yml

@@ -17,14 +17,14 @@ jobs:
       fail-fast: false
       matrix:
         ros_distribution:
-          - humble
+          # - humble
           - jazzy
           - rolling
         include:
           # ROS 2 Humble Hawksbill
-          - docker_image: ubuntu:jammy
-            ros_distribution: humble
-            ros_version: 2
+          # - docker_image: ubuntu:jammy
+          #   ros_distribution: humble
+          #   ros_version: 2
           # ROS 2 Jazzy Jalisco
           - docker_image: ubuntu:noble
             ros_distribution: jazzy

turtlebot3_fake_node/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_fake
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.5 (2025-06-04)
+------------------
+* None
+
 2.3.3 (2025-05-29)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt, related PR(https://github.com/ROBOTIS-GIT/turtlebot3_simulations/pull/234)

turtlebot3_fake_node/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_fake_node</name>
-  <version>2.3.3</version>
+  <version>2.3.5</version>
   <description>
     Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot.
     You can do simple tests using this package on rviz without real robots.

turtlebot3_gazebo/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.5 (2025-06-04)
+------------------
+* Added turtlebot3_machine_learning world and plugin
+* Contributors: ChanHyeong Lee
+
 2.3.3 (2025-05-29)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt, related PR(https://github.com/ROBOTIS-GIT/turtlebot3_simulations/pull/234)

turtlebot3_gazebo/CMakeLists.txt

@@ -1,7 +1,7 @@
 ################################################################################
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(turtlebot3_gazebo)
 
 if(NOT CMAKE_CXX_STANDARD)
@@ -26,17 +26,26 @@ find_package(nav_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
+find_package(gz_math_vendor REQUIRED)
+find_package(gz-math REQUIRED)
+find_package(gz_sim_vendor REQUIRED)
+find_package(gz-sim REQUIRED)
+find_package(gz_plugin_vendor REQUIRED)
+find_package(gz-plugin REQUIRED)
 
 ################################################################################
 # Build
 ################################################################################
 link_directories(
   ${GAZEBO_LIBRARY_DIRS}
+  ${GZ_SIM_LIBRARY_DIRS}
 )
 
 include_directories(
   include
   ${GAZEBO_INCLUDE_DIRS}
+  ${gz_sim_vendor_INCLUDE_DIRS}
+  ${GZ_SIM_INCLUDE_DIRS}
 )
 
 set(EXEC_NAME "turtlebot3_drive")
@@ -50,25 +59,29 @@ target_link_libraries(${EXEC_NAME}
   tf2::tf2
 )
 
-# add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
-# target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})
-
-# add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
-# target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})
-
-# add_library(obstacle1 SHARED src/obstacle1.cpp)
-# target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})
-
-# add_library(obstacle2 SHARED src/obstacle2.cpp)
-# target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})
+set(OBSTACLE_LIBS
+  obstacles
+  obstacle1
+  obstacle2
+)
 
-# add_library(obstacles SHARED src/obstacles.cpp)
-# target_link_libraries(obstacles ${GAZEBO_LIBRARIES})
+foreach(lib ${OBSTACLE_LIBS})
+  add_library(${lib} SHARED src/${lib}.cpp)
+  target_link_libraries(${lib}
+    PUBLIC
+    gz-sim::gz-sim
+    gz-math::gz-math
+  )
+endforeach()
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${EXEC_NAME}
+install(TARGETS
+  ${EXEC_NAME}
+  obstacles
+  obstacle1
+  obstacle2
   DESTINATION lib/${PROJECT_NAME}
 )
 

turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp

@@ -12,27 +12,51 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-// Author: Ryan Shim
+// Author: Ryan Shim, ChanHyeong Lee
 
 #ifndef TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
 #define TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
 
-#include <ignition/math.hh>
-#include <gazebo/common/common.hh>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
+#include <chrono>
+#include <memory>
+#include <vector>
 
-namespace gazebo
+#include <gz/sim/System.hh>
+#include <gz/sim/Model.hh>
+#include <gz/math/Vector3.hh>
+
+namespace turtlebot3_gazebo
 {
-class Obstacle1 : public ModelPlugin
+
+class Obstacle1Plugin
+  : public gz::sim::System,
+  public gz::sim::ISystemConfigure,
+  public gz::sim::ISystemPreUpdate
 {
 public:
-  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+  Obstacle1Plugin() = default;
+  ~Obstacle1Plugin() override = default;
+
+  void Configure(
+    const gz::sim::Entity & entity,
+    const std::shared_ptr<const sdf::Element> & sdf,
+    gz::sim::EntityComponentManager & ecm,
+    gz::sim::EventManager & eventMgr) override;
+
+  void PreUpdate(
+    const gz::sim::UpdateInfo & info,
+    gz::sim::EntityComponentManager & ecm) override;
 
 private:
-  physics::ModelPtr model;
-  event::ConnectionPtr updateConnection;
+  gz::sim::Model model;
+  std::chrono::steady_clock::time_point startTime;
+
+  std::vector<gz::math::Vector3d> waypoints;
+  std::vector<double> segmentDistances;
+  double totalDistance = 0.0;
+  double speed = 0.1;  // meters per second
 };
-GZ_REGISTER_MODEL_PLUGIN(Obstacle1);
-}  // namespace gazebo
+
+}  // namespace turtlebot3_gazebo
+
 #endif  // TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_

turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp

@@ -12,28 +12,51 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-// Author: Ryan Shim
+// Author: Ryan Shim, ChanHyeong Lee
 
 #ifndef TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
 #define TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
 
-#include <ignition/math.hh>
-#include <gazebo/common/common.hh>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
+#include <chrono>
+#include <memory>
+#include <vector>
 
-namespace gazebo
+#include <gz/sim/System.hh>
+#include <gz/sim/Model.hh>
+#include <gz/math/Vector3.hh>
+
+namespace turtlebot3_gazebo
 {
-class Obstacle2 : public ModelPlugin
+
+class Obstacle2Plugin
+  : public gz::sim::System,
+  public gz::sim::ISystemConfigure,
+  public gz::sim::ISystemPreUpdate
 {
 public:
-  Obstacle2() = default;
-  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+  Obstacle2Plugin() = default;
+  ~Obstacle2Plugin() override = default;
+
+  void Configure(
+    const gz::sim::Entity & entity,
+    const std::shared_ptr<const sdf::Element> & sdf,
+    gz::sim::EntityComponentManager & ecm,
+    gz::sim::EventManager & eventMgr) override;
+
+  void PreUpdate(
+    const gz::sim::UpdateInfo & info,
+    gz::sim::EntityComponentManager & ecm) override;
 
 private:
-  physics::ModelPtr model;
-  event::ConnectionPtr updateConnection;
+  gz::sim::Model model;
+  std::chrono::steady_clock::time_point startTime;
+
+  std::vector<gz::math::Vector3d> waypoints;
+  std::vector<double> segmentDistances;
+  double totalDistance = 0.0;
+  double speed = 0.1;  // meters per second
 };
-GZ_REGISTER_MODEL_PLUGIN(Obstacle2);
-}  // namespace gazebo
+
+}  // namespace turtlebot3_gazebo
+
 #endif  // TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_

turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp

@@ -12,30 +12,44 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-// Author: Ryan Shim
+// Author: Ryan Shim, ChanHyeong Lee
 
 #ifndef TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
 #define TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
 
-#include <ignition/math.hh>
-#include <gazebo/common/common.hh>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
+#include <chrono>
+#include <memory>
 
-#define PI 3.141592
+#include <gz/sim/components/Pose.hh>
+#include <gz/sim/EntityComponentManager.hh>
+#include <gz/sim/EventManager.hh>
+#include <gz/sim/Model.hh>
+#include <gz/sim/System.hh>
 
-namespace gazebo
+namespace turtlebot3_gazebo
 {
-class Obstacles : public ModelPlugin
+
+class ObstaclesPlugin
+  : public gz::sim::System,
+  public gz::sim::ISystemConfigure,
+  public gz::sim::ISystemPreUpdate
 {
 public:
-  Obstacles() = default;
-  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+  void Configure(
+    const gz::sim::Entity & entity,
+    const std::shared_ptr<const sdf::Element> & sdf,
+    gz::sim::EntityComponentManager & ecm,
+    gz::sim::EventManager & eventMgr) override;
+
+  void PreUpdate(
+    const gz::sim::UpdateInfo & info,
+    gz::sim::EntityComponentManager & ecm) override;
 
 private:
-  physics::ModelPtr model;
-  event::ConnectionPtr updateConnection;
+  gz::sim::Model model{gz::sim::kNullEntity};
+  std::chrono::steady_clock::time_point startTime;
 };
-GZ_REGISTER_MODEL_PLUGIN(Obstacles);
-}  // namespace gazebo
+
+}  // namespace turtlebot3_gazebo
+
 #endif  // TURTLEBOT3_GAZEBO__OBSTACLES_HPP_