spot_ros
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heuristicus
WIP ROS2 Foxy branch
This PR shouldn't be merged, but instead should be the foxy branch.
Changes
- Convert codebase to ros2 foxy
- Add CI: https://github.com/AustinDeric/spot_ros/actions/runs/274791604
WIP pending
- python script conversion to ros2
- launch file conversion
- testing (manual, no automated test are planned in this PR)
Hi @AustinDeric . Is this still a WIP?
HI :wave: yes it is still WIP, not much left, i have some uncommitted changes locally that i will push up. I am not sure if y'all want to merge this into master or make a new foxy branch.
Probably a foxy branch would be best. Keeping ros 1 and 2 apart might be less confusing
hi, since there is no active development i started a package to port the driver to ROS 2. The services: power_on, claim, stand, sit are working and it is possible to control the spot via the cmd_vel topic. I am planning to completely port the ros1 driver.
I somehow missed that PR when i started to port the driver. I also missed to create a fork.. If you interested we can merge this into your repo, but i am not sure how to proceed. Should I create another Draft PR?
Here is the link to our ROS 2 spot driver: https://github.com/MASKOR/spot_ros2
Closing this. People who want a ros2 driver should use https://github.com/bdaiinstitute/spot_ros2 for the time being. I hope that it will be possible to merge the work done there and here into one repository, see https://github.com/bdaiinstitute/spot_ros2/issues/25.
