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Any plans for ROS2 driver? #21
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Driver's plans for ROS2 are still undecided. |
Well, coincidentally I managed to hack (and literally I mean hack because I was winging it) one together last night. Once I get it cleaned up I'll make a PR for it for those that actually know what they are doing can make it correct. |
+1 to this request, In the meantime I tried to test ROS2v0.1 branch from @madgrizzle but got the following error (foxy distro on a rpi4)
Called the launch or directly the node with similar results ros2 launch cyglidar_d1 cyglidar.launch.py
ros2 run cyglidar_d1 cyglidar_pcl_publisher not sure the status of the branch? |
I'm working on the ROS2 version of @madgrizzle . i tested thank you madgrizzle |
@cygbot - when can we expect the ROS2 version to be available? |
@madgrizzle - what was the environment where you have developed and tested the package on ROS2? I'm having issues launching it on Humble. Some walkthrough from anyone @cygbot would be helpful so I can join to clean and test the package and finally distribute it to the community. |
@igolubic I updated my fork with what I have running on my robot. Unfortunately when I cloned it on the robot, I didn't do it in a manner that I could readily push changes back. So I 'recloned' it elsewhere and copied the changes over to it and pushed it. I think I got them all, but I don't know for certain. I'm running rolling at the moment, but I was using galactic previously (i'm still running 20.04). I use udev rule so you may need to edit the launch file accordingly to change it from /dev/cyglidar to whatever you use. Again, this is what I have on my robot and not a "community" release. Finally, it often crashes and often has issues starting. I sometimes have to launch it multiple times to get one to work, but find that disconnecting/reconnecting the lidar solves most of the launch issues. These issues are outside my ability to figure out (malloc errors and whatnot). So hopefully @cygbot can just use some of my changes in their own "proper" package and I can migrate to using that :) |
I'm looking to experiment with ROS2 and I'm looking for a device like this but I see the driver is currently for ROS1. Do you have plans for a ROS2 driver?
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