This repository provides various utility packages created at Southwest Reseach Institute's Intelligent Vehicle Systems section for working with Robot Operating System(ROS). This branch adds support for ROS 2 Dashing and newer releases. Most packages from ROS 1 have been ported, but a few have been removed due to being unnecessary or redundant, and some functionality is not implemented yet.
What's changed in the ROS 2 port?
Removed packages:
marti_data_structures
Nothing used this and it only contained a linked listswri_nodelet
Obsolete due to ROS 2's component mechanismswri_rospy
Unnecessary in ROS 2swri_string_util
Equivalent functionality is provided by boostswri_yaml_util
This package only existed in order to bridge nodes between ROS Hydro and ROS Indigo; useyaml-cpp
directly now
Package migration notes:
swri_image_util
replace_colors_node
has not been ported yet due to extensive changes in how ROS parameters workswri_roscpp
- Many parameter-related classes have been removed; they are unnecessary due to
roscpp::Node::delcare_parameter
providing equivalent functionality now - Topic services have not been ported yet
- Many parameter-related classes have been removed; they are unnecessary due to
swri_transform_util
initialize_origin.py
does not publish a tf frame due to tf2 Python bindings not being fully functional in ROS 2 Dashing- Launch files Launch files have not yet been migrated to ROS 2
Also note that many features have not been tested yet. Please open an issue if you try to use something and it doesn't work.
If you have installed ROS 2, you can install any of the packages in this repository with apt-get:
sudo apt-get install ros-${ROS_DISTRO}-<package>
These directions assume you have already set up rosdep. See the rosdep documentation on the ROS wiki for help setting up rosdep.
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If you don't have a colcon workspace, create one:
mkdir $HOME/workspace/src cd $HOME/workspace/src
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Check out the source code
cd $HOME/workspace/src git clone https://github.com/swri-robotics/marti_common.git
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Install dependencies:
# (In the root of this repository) rosdep install --from-paths . --ignore-src
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Build
cd $HOME/workspace colcon build