marti_common

This repository provides various utility packages created at Southwest Reseach Institute's Intelligent Vehicle Systems section for working with Robot Operating System(ROS). This branch adds support for ROS 2 Dashing and newer releases. Most packages from ROS 1 have been ported, but a few have been removed due to being unnecessary or redundant, and some functionality is not implemented yet.

Overview

What's changed in the ROS 2 port?

Removed packages: 1. marti_data_structures
Nothing used this and it only contained a linked list 2. swri_nodelet
Obsolete due to ROS 2's component mechanism 3. swri_rospy
Unnecessary in ROS 2 4. swri_string_util
Equivalent functionality is provided by boost 5. swri_yaml_util
This package only existed in order to bridge nodes between ROS Hydro and ROS Indigo; use yaml-cpp directly now

Package migration notes: 1. swri_image_util
replace_colors_node has not been ported yet due to extensive changes in how ROS parameters work 2. swri_roscpp 1. Many parameter-related classes have been removed; they are unnecessary due to roscpp::Node::delcare_parameter providing equivalent functionality now 2. Topic services have not been ported yet 3. swri_transform_util
initialize_origin.py does not publish a tf frame due to tf2 Python bindings not being fully functional in ROS 2 Dashing 4. Launch files Launch files have not yet been migrated to ROS 2

Also note that many features have not been tested yet. Please open an issue if you try to use something and it doesn't work.

Installation (ROS Foxy, Galactic, Humble)

If you have installed ROS 2, you can install any of the packages in this repository with apt-get:

sudo apt-get install ros-${ROS_DISTRO}-<package>

Building From Source (ROS Foxy, Galactic, Humble)

These directions assume you have already set up rosdep. See the rosdep documentation on the ROS wiki for help setting up rosdep.

1. If you don't have a colcon workspace, create one:

    mkdir $HOME/workspace/src
    cd $HOME/workspace/src

1. Check out the source code

    cd $HOME/workspace/src
    git clone https://github.com/swri-robotics/marti_common.git

1. Install dependencies:

    # (In the root of this repository)
    rosdep install --from-paths . --ignore-src

1. Build

    cd $HOME/workspace
    colcon build