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Published 20 hours ago • verified publisher icon leggedrobotics

ROS2 plans ?

Open doisyg opened this issue 1 year ago • 3 comments

That would be very useful!

doisyg avatar Apr 04 '23 19:04 doisyg

no plans but people (@tfabi ) have been using the SDK with ROS2 with other motor controllers. @tfabi : are you planning to release the changes? The Elmo configuration repo should not depend too much on ROS1 except for the build system.

JohannesPankert avatar Apr 17 '23 13:04 JohannesPankert

If I am right the repositories (ethercat sdk master etc. ) should have no other ROS dependencies than using catkin as a build system. I think it is possible to build mixed workspaces with colcon (using ament and catkin packages). Perhaps you just might want to give it a try?

firesurfer avatar Apr 18 '23 06:04 firesurfer

should work with the ros2 build system (tested with source build of humble, on 20.04) if you checkout the branch feature/ament_cmake. follow the readme to set up the colcon workspace. setup/setup_ws.repos ensures that you get the colcon/ament branches of the dependencies. we're happy to get some feedback about it.

tfabi avatar Apr 28 '23 15:04 tfabi