hku-mars
ROS2 HUMBLE Migration
@xuankuzcr Dr. Zheng,
Topic Area
New Feature about #40 #55
Feature Area
This issue concerns this project's pull request for ROS2 migration (ROS2 HUMBLE).
Body
If merges into this repository are allowed, I would like to have a separate humble branch for storage without affecting the updates of the main branch.
Once again, salute your excellent work. Best wishes!
@sujit-168 Thank you for your effort and support regarding the ROS2 Humble migration. Feel free to submit a pull request if it’s convenient for you. I’m currently occupied with other commitments and won’t be able to address this immediately, but I’ll review and process it as soon as I have the time.
Thank you for your patience, and best wishes!
@xuankuzcr I recommend creating a humble branch based on the current main branch in this repository. This would allow me to submit pull requests targeting the humble branch instead of merging directly into main. Such a workflow would help prevent unintended impacts on the ROS1-related code in the main branch.
A pull request draft is ready. Once the reference branch humble is created, I will move this pull request to the ready for review state.
https://github.com/Robotic-Developer-Road/rpg_vikit.git 仓库无法访问，是私有仓库吗？
@OxygenLost The repository in question is currently set to private, with plans to transition it to a public status in the near future.
Hi @sujit-168. I saw your video on bilibili. Really appreciate your work. I was wondering if the mitigation has been done and you would consider releasing the code?
@YanhaoZhang Thank you for watching my video on Bilibili. Are you asking about the GitHub repository rpg_vikit mentioned by OxygenLost?
Hi @sujit-168. Yes. Thanks a lot! I did not know you had already released the code. Really appreciate it!
@YanhaoZhang Due to copyright risks, I am sorry that I may not make the rpg_vikit mentioned in project Readme.md public shortly, unless I get permission from the original author. Thanks for understanding about this!
@sujit-168 Sorry for the late reply. Yes, I totally understand this, and I really appreciate you releasing the mitigation as well as your prompt reply.
Hello all, thank you for your work! Do I understand correctly that vikit is required and none of the provided options can be built using colcon but only with catkin?
I would like to try compatibility on ROS Jazzy, Ubuntu 24.04 but I can not use anything that is based on catkin..
@Divepit Any contribution based on PR is welcome. You can share your test results and compatibility issues about this PR with ROS Jazzy on Ubuntu 24.04
@Divepit for me Fast-LIVO 2 runs on Humble with the forks from @james-ward after installing the newest sophus version via apt:
His forks:
- https://github.com/integralrobotics/FAST-LIVO2
- https://github.com/integralrobotics/rpg_vikit
Install Sophus
sudo apt install ros-$ROS_DISTRO-sophus
I opened two PRs to @james-ward's fork. One to fix builds for ROS 2 versions that are older than Iron (so including Humble) and the second one to fix the Velodyne processing similar to #53 for ROS 1.
https://github.com/integralrobotics/FAST-LIVO2/pull/1 https://github.com/integralrobotics/FAST-LIVO2/pull/2
If @james-ward decides to merge these PR's they would then also be included in the PR to @sujit-168's fork: https://github.com/Robotic-Developer-Road/FAST-LIVO2/pull/1
I opened two PRs to @james-ward's fork. One to fix builds for ROS 2 versions that are older than Iron (so including Humble) and the second one to fix the Velodyne processing similar to #53 for ROS 1.
integralrobotics#1 integralrobotics#2
If @james-ward decides to merge these PR's they would then also be included in the PR to @sujit-168's fork: Robotic-Developer-Road#1
Both merged. Thanks!
After I convert sample data bag from ROS1 to ROS2, I find the lidar and IMU data is no longer synced with lidar delayed about 0.5~1 second, and some times log prints IMU and LiDAR not synced! delta time: xxx. Maybe something happens during conversion, but seems ok after running for a while
After I convert sample data bag from ROS1 to ROS2, I find the lidar and IMU data is no longer synced with lidar delayed about 0.5~1 second, and some times log prints
IMU and LiDAR not synced! delta time: xxx. Maybe something happens during conversion, but seems ok after running for a while
Have you solved this problem? As the program runs for a longer time, the ''delta time'' keeps increasing. It seems that the latest LiDAR data is subscribed to, but the system is still processing IMU data from a long time ago.
After I convert sample data bag from ROS1 to ROS2, I find the lidar and IMU data is no longer synced with lidar delayed about 0.5~1 second, and some times log prints
IMU and LiDAR not synced! delta time: xxx. Maybe something happens during conversion, but seems ok after running for a whileHave you solved this problem? As the program runs for a longer time, the ''delta time'' keeps increasing. It seems that the latest LiDAR data is subscribed to, but the system is still processing IMU data from a long time ago.
I'm running into this issue as well. But I might have solved the problem, and my way was to use the command instead when I finally ran the test set, the original:
ros2 bag play -p Retail_Street
I used:
ros2 bag play Retail_Street -clock
Utilize-clockto make all nodes use the timestamp in the bag file, instead of the current time of the system.Then the warning disappeared.
I want to test it with Lite3 Robot. Can anyone help me to rebuild it with ROS2 Foxy? I got stuck on the point while colcon build it as point cloud ros library is not available in Foxy. So can anyone help me with changes in the CMakeLists.txt?
I want to test it with Lite3 Robot. Can anyone help me to rebuild it with ROS2 Foxy? I got stuck on the point while colcon build it as point cloud ros library is not available in Foxy. So can anyone help me with changes in the CMakeLists.txt?
I am getting the error in the text file while building it for ROS2 Foxy. I have successfully installed Sophus, PCL-ROS for foxy, Vikit and livox_ros_driver2. Can Anyone help me with this to run it in Foxy? I would then try it on Lite 3 Robot.