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[ros2] Port diff_drive plugin to ros2 #806

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merged 11 commits into from Sep 10, 2018

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commented Aug 26, 2018

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.

@chapulina chapulina added the ros2 label Aug 28, 2018

tfoote added some commits Aug 24, 2018

Basic structures updated
includes updated
include guards updated
CMake rules added

Not compiling yet
starting deboostifying
updating lock

header passing compile

diff drive plugin compiling

clear all references to callback queue

@chapulina chapulina force-pushed the diff_drive branch from 8a56542 to 2679fdc Aug 28, 2018

chapulina added some commits Aug 29, 2018

documentation, add TF publishers - commands and publishers work, but …
…visualization on RViz is jerky, must check
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commented Aug 30, 2018

I finished most of the port and started the migration guide. Also:

  • Added a demo world with instructions
  • Added a test that commands are received and odom is published
  • The test doesn't check TF

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:

tf_diff_drive


@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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commented Sep 4, 2018

Motivated by this PR, I also started a migration guide for gazebo_ros_utils, more specifically the get* functions.

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commented Sep 10, 2018

After talking to @tfoote , we will merge this PR and retarget #815 to ros2

@chapulina chapulina merged commit 9e1480b into ros2 Sep 10, 2018

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@chapulina chapulina deleted the diff_drive branch Sep 10, 2018

@chapulina chapulina referenced this pull request May 7, 2019

Merged

Gazebo support (draft) #19

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