How can I pull request ROS 2 packages

[hijimasa]

Thank you for creating this very useful repository.
I have already moved to ROS 2, but I really wanted to use this repository, so I created a ROS 2 package.
https://github.com/hijimasa/open3d_slam/tree/ros2

If you don't mind, I would like to make a pull request for the package I created, how do I send the request?
I would like to keep the master, but I cannot create new merge destination.

[nubertj]

Dear @hijimasa,
Thanks a lot, that's great!
So, just to be sure, you can create a PR, but only against the master branch? I can check on that or create a new branch for you, but maybe having a PR against master is not a bad idea. What do you think? Instead of only having open3d_slam_ros, we could add another package, open3d_slam_ros2?

[hijimasa]

Dear @nubertj ,
Thanks to reply.
CMakeLists.txt for ROS 2 is different to ROS 1. And ROS 1 users still exist.
So I think the best way is to create new branch.
If you create new branch for ROS 2, I can create PR for the branch.

[nubertj]

yes but we should be able to get all the packages independent of catkin except open3d_slam_ros, i.e. to allow the repository to be used in catkin through open3d_slam_ros, and in ament through open3d_slam_ros2?

I understand that this will require some additional refactoring, but only that way it will be truly useful to others without getting out of sync.

[hijimasa]

So you want to be able to build on ROS 1 and ROS 2 without splitting branches.

[nubertj]

That would be great, and we will do this anyway in the coming months as we are soon also moving to ROS2 internally.
But if you don't want to be part of this, it is totally fine. Then I can prepare a branch for you, and we will check internally how we can do the further migration after that.

[hijimasa]

I would like to participate, but I don't know if we can make a common branch between ROS 1 and ROS 2. I have an idea for CMakeLists.txt, but I don't know what to do about package.xml. Do you have any ideas over there?

[nubertj]

In the end everything builds with cmake, so the catkin packages do not care about any ament packages, and vice versa (as long as you do not try to build them).

Maybe let's try to create a separate branch for now, and I'll try to bring it all together in a couple of weeks.

[hijimasa]

I agree with creating a separated branch first.

[nubertj]

can you try opening a PR against that branch: https://github.com/leggedrobotics/open3d_slam/tree/feature/ros2
?

[hijimasa]

Thank you to create the branch. I created a PR.

[hardesh-peppermint]

Hi,

I wanted to know the current status of the ROS2 branch. I see that there's a vendor package for building open3D using ament. But I don't see any launch files in upstream. But @hijimasa has already made some changes on his fork.

Please let me know if those changes are working. I'm happy to build on top of that quickly as I wanted to test the package with ROS2

[nubertj]

Hi @hardesh-peppermint,
Unfortunately this branch is currently not ready for merging. We have one internal branch that we tested preliminary, as our lab is slowly moving to ROS2: https://github.com/leggedrobotics/open3d_slam/tree/dev/ros2

Maybe you could give it a try?