Add support for ROS 2 (Humble) #18
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
* Fix library install destination * Set include directories in CMakeLists.txt * Use generalized plugin path for app * Delete duplicated-instanciated plugin * Update ros2 to humble in build test workflow * Update build dependencies (ref: latest install-requisites-ubuntu-22.04.sh) * Do apt update/upgrade in build workflow * Use osrf/ros:humble-desktop-jammy as build workflow base image * Update ros-tooling/action-ros-ci * Add libzip-dev to install dependencies * Fix plugin/CMakeLists.txt * Clean up build test workflow * Skip test on build test workflow * Add python3-colcon-lcov-result / python3-colcon-coveragepy-result to dependencies
ssr-yuki
requested changes
Mar 2, 2024
|
|
||
| bool BodyROS2Item::store(Archive &archive) | ||
| { | ||
| archive.write("body_ros_version", 0); |
There was a problem hiding this comment.
The parameter body_ros_version is no longer used as not restored in the next function.
|
|
||
| jointStatePublisher | ||
| = rosNode->create_publisher<sensor_msgs::msg::JointState>(getROS2Name("joint_states"), | ||
| 1000); |
There was a problem hiding this comment.
just my interest: is 1000 a good choice in ROS 2 publication?
There was a problem hiding this comment.
The history depth for publisher should be comprehensively judged based on the cycle of publication, the importance of the content, the environment, etc.
I don't think 1000 (which can withstand 10 seconds of communication loss) is appropriate.
The old joint state has almost no value, so if a communication breakdown occurs, the old data should be dropped and new data published.
This is the same between ROS 1 and 2.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
abstruct
I imported derverbles from choreonoid/choreonoid_ros2 and added some fixes.
With this pull-request, this repository is configured to be buildable on both ROS 1 and ROS 2.
The major differences between ROS 1 version and ROS 2 version are as follows.
ROS configuration
ROS 1
ROS 2
ros_control support
ROS 1
ros_control support is available now.
ROS 2
ros_control support is not available now.
However, we plan to support it in the future.
Build instruction for ROS 2 (Humble, Ubuntu22.04)
Note: Please ignore the error from choreonoid with catkin, when running rosdep (Fixed in choreonoid/choreonoid#36)