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.

Build Status

ROS2 Distro | Branch | Build status | Released packages :———: | :—-: | :———-: | :—————: Humble | humble |
| swri_cli_tools
swri_console_util
swri_dbw_interface
swri_geometry_util
swri_image_util
swri_math_util
swri_opencv_util
swri_math_util
swri_roscpp
swri_route_util
swri_serial_util
swri_system_util
swri_transform_util Jazzy | jazzy |
| swri_cli_tools
swri_console_util
swri_dbw_interface
swri_geometry_util
swri_image_util
swri_math_util
swri_opencv_util
swri_math_util
swri_roscpp
swri_route_util
swri_serial_util
swri_system_util
swri_transform_util Rolling | rolling |
| swri_cli_tools
swri_console_util
swri_dbw_interface
swri_geometry_util
swri_image_util
swri_math_util
swri_opencv_util
swri_math_util
swri_roscpp
swri_route_util
swri_serial_util
swri_system_util
swri_transform_util

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 from ROS 1 yet due to extensive changes in how ROS parameters work

Installation (ROS 2 Humble, Jazzy, Rolling)

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 2 Humble, Jazzy, Rolling)

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