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
Iron	iron		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, Iron, 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, Iron, 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