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[ros2] Port planar move to ROS2 #958

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merged 3 commits into from Jul 30, 2019

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@shiveshkhaitan
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commented Jul 17, 2019

Port gazebo_ros_planar_move plugin to ROS2.

Example usage:

    <plugin name="gazebo_ros_planar_move" filename="libgazebo_ros_planar_move.so">

      <ros>

        <!-- Add a namespace -->
        <namespace>/demo</namespace>

        <!-- Remap the default topic -->
        <argument>cmd_vel:=custom_cmd_vel</argument>
        <argument>odom:=custom_odom</argument>

      </ros>

      <update_rate>100</update_rate>
      <publish_rate>10</publish_rate>

      <!-- output -->
      <publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>

      <odometry_frame>odom_demo</odometry_frame>
      <robot_base_frame>link</robot_base_frame>

      <covariance_x>0.0001</covariance_x>
      <covariance_y>0.0001</covariance_y>
      <covariance_yaw>0.01</covariance_yaw>

    </plugin>

Migration guide at ROS 2 Migration: Planar Move

@chapulina chapulina self-requested a review Jul 17, 2019

@chapulina chapulina added the ros2 label Jul 17, 2019

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commented Jul 24, 2019

@osrf-jenkins run tests please

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Works for me!

Could you add tests for the new conversion functions? Thanks!

It also needs rebasing.

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Great job!

@chapulina chapulina merged commit e33a9c1 into ros-simulation:dashing Jul 30, 2019

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shiveshkhaitan added a commit to shiveshkhaitan/gazebo_ros_pkgs that referenced this pull request Aug 15, 2019
[ros2] Port planar move to ROS2 (ros-simulation#958)
* [ros2] Port planar move to ROS2

* Add test for pose conversion
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