[WIP] Porting ros2

[hsd-dev]

Originally from #82 started by @wawanbreton

• CI: de9e3ad, 7d354f6
• README: 8d3a2f9
• pf_interfaces
  • package.xml and CMakeLists.txt
• pf_description
  • package.xml and CMakeLists.txt setup.py: 9476ad6
  • launch files: 64c4d08
  • update rviz config: d01c6d1
• pf_driver
  • package.xml and CMakeLists.txt: 0248e74
  • Node, logging, interfaces, callbacks: 0248e74
  • launch files
  • tests
  • cpp code refactoring to improve parameter management: 1244f3d (currently removed since Apply correction function for the scans  #77 and Reconnectivity feature #81 changes quite some cpp code)

[wawanbreton]

I got permission denied when pushing to this branch, can you give me some rights ?

[hsd-dev]

nice :)

[wawanbreton]

Dynamic parameters are indeed much simpler in ROS2 !

[hsd-dev]

The current code seems to be valid only for foxy. We might need to have separate branch for galactic and upwards https://github.com/PepperlFuchs/pf_lidar_ros_driver/runs/6810174179?check_suite_focus=true#step:4:685

For now, I will disable galactic and upwards

[wawanbreton]

The current code seems to be valid only for foxy. We might need to have separate branch for galactic and upwards

What makes you say that ? I'm working with galaxy only

[hsd-dev]

@wawanbreton please check the CI output linked above. Didn't you get that error?

Edit: the error exists for foxy as well actually https://github.com/PepperlFuchs/pf_lidar_ros_driver/runs/6810315345?check_suite_focus=true

[wawanbreton]

No I didn't get the error, pcl-conversion is actually available for galactic

[hsd-dev]

right, we have commented out the deps https://github.com/PepperlFuchs/pf_lidar_ros_driver/blob/porting-ros2/pf_driver/package.xml#L13. Since CI starts with a clean docker, these packages have not been installed.

[hsd-dev]

OK the CI seems to be working now: https://github.com/PepperlFuchs/pf_lidar_ros_driver/runs/6811233956?check_suite_focus=true#step:4:1582

[wawanbreton]

My commit containing the DAE files instead of the STL has been wiped out, was it intentional ?

[hsd-dev]

sorry about that. I think I pushed commits around the same time as you. Could you fetch the latest commits, rebase and push that commit again?

[hsd-dev]

Also, take a look at the CI output linked above

/root/target_ws/src/pf_lidar_ros_driver/pf_driver/src/pf/pf_interface.cpp:220:25: error: missing template arguments before ‘feed_time’
    220 |   std::chrono::duration feed_time = std::min(duration, std::chrono::milliseconds(std::chrono::seconds(60)));
        |                         ^~~~~~~~~
  /root/target_ws/src/pf_lidar_ros_driver/pf_driver/src/pf/pf_interface.cpp:221:46: error: ‘feed_time’ was not declared in this scope
    221 |   watchdog_timer_ = node_->create_wall_timer(feed_time, std::bind(&PFInterface::feed_watchdog, this));

[ptruka]

Many thanks to everyone for their support!
Due to the general changes to the code and the resulting differences to the ros1 driver, a repository for ros2 was created:
https://github.com/PepperlFuchs/pf_lidar_ros2_driver