ROS 2 native connection support

[amacneil]

Placeholder ticket to discuss native ROS2 connections.

See also:

• ROS 2 rosbridge websocket connection support #716 (ROS 2 websocket connections)
• ROS 2 bag support #717 (ROS 2 bag support)

[vmanchal1]

+1

[shoemakerlevy9]

Hi, my company Rover Robotics is launching a robot in September via Kickstarter that is going to ship with ROS2 Foxy by default. We are looking for an alternative to RVIZ because we don't like QT development. I really like the look of Foxglove and would like to try it out. Is there a work a round for getting it to work with ROS Foxy?

[amacneil]

It is apparently possible to use Foxglove Studio with ROS 2 via the ros1 bridge (I haven't tried this myself but heard from someone doing it). If you try this we would love to hear back on how it works out for you.

Support for ROS 2 without needing the bridge is being actively worked on (e.g. 1 2 3). I can't give a concrete timeline for when it will be ready, but it should be 🔜.

[ShawnSchaerer]

We use it with ROS1 bridge. Works fine but it's an added step.

[amacneil]

Update on this ticket status:

• ROS 2 bag playback (ROS 2 bag support #717) is launched
• ROS 2 websocket (rosbridge) connection support is in progress complete (see ROS 2 rosbridge websocket connection support #716 - we are in the process of publishing a new version of rosbridge, and there are some minor issues to fix in studio)
• ROS 2 native connection support is in progress, but will take a while (~months) since it requires reimplementing all of ROS 2 + DDS in JS. You can follow this development progress in our various ROS 2 typescript libraries. In the meantime rosbridge will be our recommended path for ROS 2 users.

[jhurliman]

ROS 2 native connection progress can be tracked on the pull request at #1640

[jtbandes]

Gonna keep this issue open since it seems like the connection is not yet in a usable state (#1750)

[defunctzombie]

We'll close this as the overall ROS2 Native support is in place. We have the new issues to track smaller features/bugs.