[ros2] Port diff_drive plugin to ros2 #806
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includes updated include guards updated CMake rules added Not compiling yet
updating lock header passing compile diff drive plugin compiling clear all references to callback queue
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I finished most of the port and started the migration guide. Also:
When visualizing TF on RViz, note that due to ros2/rviz#332 the wheels are not updating correctly, but the TF is being properly published:
@tfoote , I haven't addressed the QoS comments you left. If you don't have time for it once you're back, I can take a stab at it. |
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Motivated by this PR, I also started a migration guide for |
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This is compiling but has not been tested. I'm opening the PR for visibility as I'll be on vacation next week.
There are a few TODOs to check and adding some unit tests would be really good.
This builds on top of #803 as well.