port to ROS2

[SyZbidi]

Ported package to ROS2

[gavanderhoorn]

@fmauch: would you be interested in merging this here? It would save us from maintaining an(other) fork and might help others trying to use this in ROS 2 as well.

There's no CI currently here, correct?

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Edit: there is CI, apologies.

[fmauch]

Yes, that would be nice to have here. Not necessarily the main branch, though.

[SyZbidi]

Yes, that would be nice to have here. Not necessarily the main branch, though.

If you can create a new ROS2-dedicated branch to which I can target this PR that would be great. Thanks

[fmauch]

This is looking good at least for an initial version. I'll create a ROS 2 branch, merge this PR manually, update CI for ROS 2 and push that to Github. Thanks @SyZbidi

[gavanderhoorn]

There are still one or two changes missing @fmauch. @SyZbidi was going to push those in a bit.

[fmauch]

I'll take some time to do that anyway, since I'll have to squeeze that in between childcare. I wouldn't push things before I've tested them manually, anyway.

[gavanderhoorn]

We have them locally. Just finishing lunch :)

[SyZbidi]

@fmauch Done with the final changes, happy to contribute :)

[fmauch]

@SyZbidi could you rebase on ros2-main please? that should make the workflows run correctly.

[SyZbidi]

@SyZbidi could you rebase on ros2-main please? that should make the workflows run correctly.

Done

[fmauch]

Thank you @SyZbidi!