Fetch cartographer_ros to release-1.0 tag and add ROS2 API #25

routiful · 2019-02-01T02:35:56Z

I fetched cartographer_ros code to release-1.0 tag in googlecartographer/cartographer_ros repo.
I have been tested this turtlebot3 and gazebo.

If you want to test this, please following below link
http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#ros2

Remove boost from cartographer_ros. It was only being used for boost::array, which we can easily replace with std::array. Signed-off-by: Chris Lalancette <[email protected]> Port cartographer_ros_msgs over to ROS2. The messages and services now build. Signed-off-by: Chris Lalancette <[email protected]> Port cartographer_ros over to ROS2. Signed-off-by: Chris Lalancette <[email protected]> Always get the tf transform right "now". We are currently having problems with rounding in tf, which causes it to always miss the transform. To work around this for now, just always ask for the latest transform. This isn't technically correct, but will probably be good enough for Turtlebot where our transforms are static. Signed-off-by: Chris Lalancette <[email protected]> Disable testing in cartographer_ros. This is to avoid an error when building without google-mock installed. Signed-off-by: Chris Lalancette <[email protected]> Add in configuration files for turtlebot 2d and 3d. Signed-off-by: Chris Lalancette <[email protected]> Make sure to ignore building the cartographer_ros_docs. We don't currently have a configuration that will allow these to build. Signed-off-by: Chris Lalancette <[email protected]> Make sure to include trajectory_builder.lua for 3d. Signed-off-by: Chris Lalancette <[email protected]> Update to use tf2::durationFromSec (ros2#3) Internal storage has been converted from <ns, double> to <ns, int> use CMAKE_X_STANDARD and check compiler rather than platform Use standard urdfdom-headers rosdep key. (ros2#6) We're shadowing this key for r2b2 since upstream is out of date but we should use the rosdep key so we can eventually target upstream. ros2/robot_model#1 Revert "Use standard urdfdom-headers rosdep key. (ros2#6)" (ros2#7) This reverts commit 0dbd82a. Move executables to libexec directory (ros2#9) * Move into lib directory. Signed-off-by: Chris Lalancette <[email protected]> * move turtlebot config files to turtlebot_cartographer package Make cartographer_ros compile again with recent changes to rclcpp::Time (ros2#12) * Make cartographer_ros compile again with recent changes to rclcpp::Time Signed-off-by: Chris Lalancette <[email protected]> * Fix nits from review. Signed-off-by: Chris Lalancette <[email protected]> * Fix up alphabetical order. Signed-off-by: Chris Lalancette <[email protected]> * Store the timesource and the clock in the node. This way we don't re-initialize it every time. Signed-off-by: Chris Lalancette <[email protected]> migrate to format 3 and declare membership to rosidl_interface_packages (ros2#13) Update for rclcpp namespace removals (ros2#14) * Remove ::publisher:: namespace * Remove subscription:: namespace * Remove service:: namespace * Remove timer:: namespace * Remove node:: namespace Update the maintainer to me. (ros2#15) * Update the maintainer to me. * Updates from review. * fixup 2.0.0

Signed-off-by: Chris Lalancette <[email protected]>

…_ros into crystal

mkhansenbot · 2019-03-08T03:59:53Z

I have tested this and it is working on my TB3, can we get a code review and merge?

mjcarroll · 2019-03-08T14:26:41Z

@mkhansen-intel So @clalancette and I discussed this a few weeks ago, and we thought that the best course of action would be to try to get ROS2 cartographer improvements merged back upstream in the original repositories. Unfortunately, I had the wrong date for the Cartographer open house where I was going to propose this, so I haven't made much progress with the upstream devs.

mkhansenbot · 2019-03-08T18:41:23Z

I agree that merging upstream would be ideal. I've filed an issue upstream in that regard also here: cartographer-project#1162

In the meantime, can we merge it here so at least other ROS2 users have a central place to get the code and we don't have to keep forking?

mkhansenbot · 2019-04-11T14:24:11Z

@mjcarroll - So in order to get this merged upstream, an RFC needs to be filed for the cartographer project. (see this issue: cartographer-project#1162) I don't have the time to do this, would you be able to do it so we can get these changes upstreamed in time for Dashing? Otherwise, can you merge this PR so at least we can release the code from this repo for Dashing?

mjcarroll · 2019-04-11T14:57:00Z

I don't think that I will have time to get this through the RFC process before Dashing, so I'm okay with merging this in that case. Full transparency, I haven't really reviewed or evaluated this code, as it is quite a substantial diff, so I'm going to have to take your word that it's working.

Based on the linked discussion, it seems that introducing a cartographer_ros2 package would be the best approach long term, so that may be a good thing to start pursuing in the future.

mkhansenbot · 2019-04-11T17:04:35Z

I think the same issues exist with creating a cartographer_ros2 package as with this repo. It's a fork that has to be maintained by someone, and changes in the ROS version may not be ported to the ROS2 version. At least if they're branches in the same repo, they might have a chance of staying synched. But that's just my 2 cents, as I can't volunteer to maintain it in either case.

routiful · 2019-04-12T00:41:25Z

@mjcarroll @mkhansen-intel
Interesting conversation :)
This code have already tested with TurtleBot3 platform even Gazebo.
But I am agree that someone maintain this code to reliable performance.
I'm ready to improve migrated cartographer_ros for ROS2.

mkhansenbot · 2019-05-13T16:26:52Z

@mjcarroll and @clalancette, can we get this merged?

dirk-thomas · 2019-05-17T00:09:52Z

@mjcarroll @clalancette Friendly ping.

clalancette · 2019-05-23T14:58:35Z

Closing out as it was superceded by #26

clalancette and others added 30 commits May 17, 2018 20:49

adapt to 0.3.0, match API, remove deleted files and minor fixups

fe40e80

Make sure to instantiate the transform_broadcaster in node.

d963e6c

Signed-off-by: Chris Lalancette <[email protected]>

2.1.0

249fdcd

disable testing as all tests are commented out anyway (ros2#18)

fabe3c5

2.1.1

44d8bc8

cartographer_ros doesnt depend on console_bridge ATM (ros2#19)

3780bb3

tf2_ros::Buffer requires a clock (ros2#20)

0399442

change ros api to ros2 api

cf9c496

debuging...

b302659

node function init success

3491f80

add submap

10190c6

adjust from roscpp to rclcpp api

5dd851c

add nodehandle func for return node handle

ad07467

add debug code

a389c1d

change publish timer

4e9d138

sync release 1.0

5f4f83c

sync release 1.0

9b4eafc

modified ifdef name

83871aa

delete rclcpp

4184a18

fetch release 1.0 and update ros2 api

3b54875

add msg conversion header

09ce0fe

modified variable(time -> start_time)

1f52e6b

fetch release 1.0

55ef964

fetch release 1.0 and add ros2 api

9657b3e

fetch release 1.0

9929c2f

fetch release 1.0 and add ros2 api

d84b4c7

fetch release 1.0 and add ros2 api

cf18b4d

fetch release 1.0

dd74532

delete occupancy grid

1baa2d1

Darby Lim and others added 11 commits January 29, 2019 15:07

test rcl service

9a09b01

add rclcpp node

4ba00ec

delete debug code

ea6221f

modified duration unit in wall timer

102c885

add draw and publish function

6191ae8

delete unused code

90c4a81

delete unused code

99f58a1

delete unused code

c69b5d5

delete clients

96b0e2d

deleted direct setting param code

4cb47fd

Merge branch 'crystal' of https://github.com/ROBOTIS-GIT/cartographer…

2c07396

…_ros into crystal

This was referenced Feb 1, 2019

Occupancy grid node is missing #23

Closed

Port to ROS2 cartographer-project/cartographer_ros#1162

Closed

make default qos to map publisher

87464b7

routiful mentioned this pull request Feb 8, 2019

Fetch cartographer to release-1.0 tag ros2/cartographer#7

Closed

robotpilot mentioned this pull request Apr 29, 2019

ROS 2 Dashing Diademata ros2/ros2#607

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20 tasks

clalancette mentioned this pull request May 17, 2019

Ros2 update to latest #26

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clalancette force-pushed the ros2 branch from 0399442 to d4c62f7 Compare May 23, 2019 14:57

clalancette closed this May 23, 2019

robotpilot mentioned this pull request Aug 1, 2019

TB3 for ROS 2 Dashing Diademata ROBOTIS-GIT/turtlebot3#460

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Fetch cartographer_ros to release-1.0 tag and add ROS2 API #25

Fetch cartographer_ros to release-1.0 tag and add ROS2 API #25

routiful commented Feb 1, 2019

mkhansenbot commented Mar 8, 2019

mjcarroll commented Mar 8, 2019

mkhansenbot commented Mar 8, 2019

mkhansenbot commented Apr 11, 2019

mjcarroll commented Apr 11, 2019

mkhansenbot commented Apr 11, 2019

routiful commented Apr 12, 2019 •

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mkhansenbot commented May 13, 2019

dirk-thomas commented May 17, 2019

clalancette commented May 23, 2019

Fetch cartographer_ros to release-1.0 tag and add ROS2 API #25

Fetch cartographer_ros to release-1.0 tag and add ROS2 API #25

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routiful commented Feb 1, 2019

mkhansenbot commented Mar 8, 2019

mjcarroll commented Mar 8, 2019

mkhansenbot commented Mar 8, 2019

mkhansenbot commented Apr 11, 2019

mjcarroll commented Apr 11, 2019

mkhansenbot commented Apr 11, 2019

routiful commented Apr 12, 2019 • edited Loading

mkhansenbot commented May 13, 2019

dirk-thomas commented May 17, 2019

clalancette commented May 23, 2019

routiful commented Apr 12, 2019 •

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