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changes for ros2 - rebased #22

Merged
merged 16 commits into from
Mar 7, 2022
Merged

changes for ros2 - rebased #22

merged 16 commits into from
Mar 7, 2022

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ijnek
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@ijnek ijnek commented Mar 6, 2022 •
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Rebased #16 onto most recent master, with some changes.

Additional changes:

  • Change the executable to a ROS2 component (using ros2 component magic!). This allows the node to be reused in many other ways than just an executable. Same syntax ros2 run humanoid_base_footprint base_footprint can still be used to run the node as a standalone executable. The existing launch file works fine too.
  • Bunch of styling fixes to pass CI
  • Moving some #includes from .hpp to .cpp
  • Change .h to .hpp, as that's recommended ROS2 style.
  • Changes license to Apache License V2.0 (ROS2 Recommended) - this is an important change, if you prefer keeping the old license, we need to look into getting ament tests passing with it.

SammyRamone and others added 16 commits January 25, 2022 11:48
@SammyRamone
changes for ros2
9dd5998
@SammyRamone
made base footprint work
0a8610b
@SammyRamone
remove error during launch
8d04801
@SammyRamone
make humanoid base footprint work
e6911c3
@Flova
Add sim arg
f8e8205
@Flova
Fix rate
8fa3026
@SammyRamone
remove docs and dependency on bitbots docs
63fc181
@SammyRamone
small code clean up and additional documentation
3a87881
@SammyRamone
made support state topic more general
9fc7d91
@SammyRamone
switch to new message
a1672ed
@ijnek
Merge remote-tracking branch 'upstream/ros2' into ros2-rebased
b629649
@ijnek
add installation instruction
8eb6466 
Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
@ijnek
add rot_conv_lib as source dependency, but should be removed when rel…
2927817 
…eased.

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
@ijnek
add testing
891e0dc 
Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
@ijnek
make all ament_lint_auto tests pass
ea3f8bb 
Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
@ijnek
clean up package.xml and CMakeLists.txt ,and change node to be a comp…
d2a482f 
…onent

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
@ijnek ijnek marked this pull request as ready for review March 6, 2022 04:39
@ijnek ijnek requested review from SammyRamone and a team and removed request for SammyRamone March 6, 2022 04:39
@ijnek ijnek mentioned this pull request Mar 6, 2022
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Flova
Flova reviewed Mar 6, 2022
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@ijnek ijnek mentioned this pull request Mar 7, 2022
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@ijnek ijnek merged commit 8344154 into ros-sports:master Mar 7, 2022
@ijnek ijnek deleted the ros2-rebased branch March 7, 2022 23:42
@ijnek ijnek mentioned this pull request Mar 16, 2022
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@Flova Flova Flova left review comments

@SammyRamone SammyRamone SammyRamone approved these changes

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3 participants
@ijnek @SammyRamone @Flova