Any plan for ROS2?

[Myzhar]

Hi,
what is your plan about a ROS2 version of grid_map?

I'm adding grid_map support in a sensor node with an eye on ROS2 and knowing what you are going to do with ROS2 is really important for my decisions.

Thank you
Walter

[pfankhauser]

Thanks for reaching out @Myzhar. We are planning to release a version of Grid Map for ROS 2, but I cannot give you a release date. If you have some spare time to look into the changes that will be required, it would help us to speed up the process.

[Myzhar]

Since GridMap library is ROS indipendent I think that the only required changes are relative to the ROS nodes that you developed. However I will let you know.

[pfankhauser]

Ok great, I'll keep this issue open for the discussion.

[bpwilcox]

Hi, I'm with a team working on the new ROS2 Navigation package. We are looking to support grid_map among other map representations (see issue: ros-navigation/navigation2#18) in the new navigation stack, so we would be greatly interested in hearing any progress made on an official ROS2 version. As @Myzhar mentioned, there may not be much ROS dependency, but when we cross that bridge, we'll be open to share what we've learned.

[pfankhauser]

@bpwilcox This sound great, we'd be happy to support this with whatever we can. I'll look into the ROS2 compatibility of Grid Map and will report back here.

[bpwilcox]

I'd like to revive this thread. As we are discussing the current design of core interfaces in the navigation2 stack (see ros-navigation/navigation2#1173) , we should consider the support of map representations outside of costmap_2d.

@pfankhauser Has there been any investigation into this package for ROS2?