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AutonomyLab / create_robot

ROS driver for iRobot Create 1 and 2.
http://www.autonomylab.org/create_autonomy
BSD 3-Clause "New" or "Revised" License
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Ros2 Redesign #96

Open girvenavery2022 opened 2 years ago

girvenavery2022 commented 2 years ago

Feature request

Feature description

This feature is to add a galactic branch along with some refactoring which includes migrating over to python launch files, moving the state publishers launch files in create_description over to create_bringup, add an rviz launch file/config, and add in a simulation package called create_simulation that uses ignition gazebo(or gazebo now xD). By doing these things, cuts down on duplicate code and simplifies running the robots for the user greatly. Right now, I have implemented all of these changes except simulation(still working on that) on my fork: https://github.com/girvenavery2022/create_robot/tree/galactic if there is any concerns or something you would like to see added, let me know!

jacobperron commented 2 years ago

I'm not sure what advantages switching to Python launch files give us, maybe you could elaborate?

Also, the current foxy branch appears to build fine with a Galactic installation. Ideally, we could just maintain a single branch that is compatible with all ROS 2 distributions, until there is good reason to branch. If there is something not working or a specific enhancement you'd like to see, I'm happy to review a pull request :slightly_smiling_face: