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ros2 migration #12
ros2 migration #12
Conversation
@fllay you removed compilation of the underlying library and linking it to the main node from |
I fixed link problem. Now, only how to use |
@fllay please refer here to solve: https://discourse.ros.org/t/async-executor-in-ros2/1575 It seems working. |
@fllay if you would be successful to test it, I will create the ROS2 branch here, but now I can not unless the code is not feasible to be run. |
I have tried https://discourse.ros.org/t/async-executor-in-ros2/1575. it seems to be ok but now I have another problem. Somehow, It cannot communicate with serial port.
The error message comes from Hardware is same as the one I use with ROS1. I also fixed parameter yaml file so that it can be now used in ROS2. All parameters look ok for me. But the serial port read is fail. |
@fllay please try to compile the library separately and run one of the controller applications (I suggest The procedure is quite easy:
|
@fllay if the controller application will print the result, it should be checked that the |
I think I know where the problem is but I am still looking for a solution. The problem is
After
then it stops. This output is from The solution is to execute That is the only problem. I have tested ros2 |
@fllay here
So, please, check is |
Let take a look at
The output is
I think this part
comes from
We will see
works just fine. Also, from this output
and finally, it will get The problem is we cannot restart QTObject from ros2 node thread. I dont know how to solve this. |
@fllay well, now we have multithreaded schema working. The
you see is issued by
It means that P.S. Did you try to use |
First of all, it is my stupid mistake. When you ask me to get the parameter file from ros1, I swap the SD card and run ros1 node. It does not work so I check sensor connection and the power line was loose. After I fixed that issue, it still have a problem with polling frequency. Somehow,
Now it works just fine.
and
One problem now is I will also do more test before you can make ROS2 branch and hopefully, someone who has other sensor model will test it. Thank you. |
@fllay thanks to you! Just let me know when your program passes the test, and then I will create the branch. |
I fixed segmentation fault when press ctrl-c and edited both config and launch files according to ROS2. I think you can create the branch now. I tested it on wt61C only. I ordered W901c from ali-express but it will take a while to get it. |
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It is needed to change the project name back to witmotion_ros
, then the updated PR will be merged into ros2
branch.
@fllay I added the branch, we can now do the name fix, final review and merge. |
I edited witmotion_ros.cpp, witmotion_ros_node.cpp and witmotion.h to add ros2 publisher and service. I still struggle with witmotion_ros_node.cpp.