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[Feat] migrate code from ros1 to ros2

Open sujit-168 opened this issue 9 months ago • 10 comments

The key migration part occurs in the following commits, other commits are about minor changes.

  1. migration *.cpp and *.h files
  2. migration CMakeLists.txt and package.xml files
  3. migrating launch .xml to launch.py
  4. migrate param loading from *.yaml
  5. migrate rviz to rviz2

sujit-168 avatar Mar 03 '25 14:03 sujit-168

@sujit-168 I have added a couple of new commits to your work, so that the parameters are set on the main node properly: https://github.com/integralrobotics/FAST-LIVO2

Also, your version of Vikit isn't public, so the version I have compiled against is here: https://github.com/integralrobotics/rpg_vikit.git

I was thinking about modernising the CMakeLists.txt file to use a cleaner approach, if you are interested in that as well.

james-ward avatar Mar 24 '25 00:03 james-ward

@james-ward Thank you for contributing to this pull request, especially for open-sourcing your completely modified solution. Your modifications to Vikit are another interesting approach.

sujit-168 avatar Mar 24 '25 12:03 sujit-168

I have put in a PR to your original branch: https://github.com/Robotic-Developer-Road/FAST-LIVO2/pull/1

james-ward avatar Mar 24 '25 14:03 james-ward

@james-ward Regarding the way to read camera parameters, my suggestion is to keep two solutions so that the community can refer to them. This issue can have more discussions.

sujit-168 avatar Mar 24 '25 23:03 sujit-168

@james-ward Regarding the way to read camera parameters, my suggestion is to keep two solutions so that the community can refer to them. This issue can have more discussions.

Sure. But until you release the version of Vikit you are using I couldn't get your method to work.

james-ward avatar Mar 24 '25 23:03 james-ward

@sujit-168 I have added a couple of new commits to your work, so that the parameters are set on the main node properly: https://github.com/integralrobotics/FAST-LIVO2

Also, your version of Vikit isn't public, so the version I have compiled against is here: https://github.com/integralrobotics/rpg_vikit.git

I was thinking about modernising the CMakeLists.txt file to use a cleaner approach, if you are interested in that as well.

Thank for the work, I have some trouble with sophus -- fast-livo2 demand sophus on a specific commit, but vikit seems cannot build with that, se3 is .h for fast-livo2 and .hpp for vikit. Can you share which sophus version you are using?

biggiantpigeon avatar Apr 07 '25 08:04 biggiantpigeon

@biggiantpigeon you can find it in README.md

sujit-168 avatar Apr 07 '25 09:04 sujit-168

@sujit-168 I have added a couple of new commits to your work, so that the parameters are set on the main node properly: https://github.com/integralrobotics/FAST-LIVO2 Also, your version of Vikit isn't public, so the version I have compiled against is here: https://github.com/integralrobotics/rpg_vikit.git I was thinking about modernising the CMakeLists.txt file to use a cleaner approach, if you are interested in that as well.

Thank for the work, I have some trouble with sophus -- fast-livo2 demand sophus on a specific commit, but vikit seems cannot build with that, se3 is .h for fast-livo2 and .hpp for vikit. Can you share which sophus version you are using?

My version just uses the current version in the Ubuntu APT repo.

james-ward avatar Apr 07 '25 09:04 james-ward

@biggiantpigeon you can find it in README.md

I use method mentioned in https://github.com/hku-mars/FAST-LIVO2/issues/128#issuecomment-2782936472 and it works, maybe consider update sophus part in readme~

biggiantpigeon avatar Apr 16 '25 03:04 biggiantpigeon

@biggiantpigeon you can find it in README.md

I use method mentioned in #128 (comment) and it works, maybe consider update sophus part in readme~

OK, this way will be updated in README.md

sujit-168 avatar Apr 16 '25 13:04 sujit-168