WIP ROS2 Foxy branch

[AustinDeric]

This PR shouldn't be merged, but instead should be the foxy branch.

Changes

• Convert codebase to ros2 foxy
• Add CI: https://github.com/AustinDeric/spot_ros/actions/runs/274791604

WIP pending

• python script conversion to ros2
• launch file conversion
• testing (manual, no automated test are planned in this PR)

[dniewinski]

Hi @AustinDeric . Is this still a WIP?

[AustinDeric]

Hi @AustinDeric . Is this still a WIP?

HI 👋 yes it is still WIP, not much left, i have some uncommitted changes locally that i will push up. I am not sure if y'all want to merge this into master or make a new foxy branch.

[dniewinski]

Probably a foxy branch would be best. Keeping ros 1 and 2 apart might be less confusing

[Raphtor]

What's the status on this?

[METEORITENMAX]

hi,
since there is no active development i started a package to port the driver to ROS 2.
The services: power_on, claim, stand, sit are working and it is possible to control the spot via the cmd_vel topic. I am planning to completely port the ros1 driver.

I somehow missed that PR when i started to port the driver. I also missed to create a fork..
If you interested we can merge this into your repo, but i am not sure how to proceed. Should I create another Draft PR?

Here is the link to our ROS 2 spot driver: https://github.com/MASKOR/spot_ros2

[heuristicus]

Closing this. People who want a ros2 driver should use https://github.com/bdaiinstitute/spot_ros2 for the time being. I hope that it will be possible to merge the work done there and here into one repository, see bdaiinstitute/spot_ros2#25.