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Interbotix / interbotix_ros_core

Core ROS Packages for Interbotix Robots
BSD 3-Clause "New" or "Revised" License
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ROS2 Galactic #8

Closed Serafadam closed 2 years ago

Serafadam commented 2 years ago

Hi, I know that it's a little bit late, but based on discussion in https://github.com/Interbotix/interbotix_ros_manipulators/issues/14, I've finally decided that it will be better to make this PR and work on it together. It updates the xs_sdk to ROS2 Galactic. I have been able to test it with some success using Moveit2 (although with a bit of some hardcoding ;( ), and I'd be very happy if you can test it with other robots. I'll make additional PRs for the code in interbotix_ros_manipulators, but those will be split based on converted packages. I also merged some changes from main today, so there might be some bugs, but the code is working. I've removed the Dynamixel repository, not sure if that should be included in the .repos file for vcs tool to import, but I'll add that if the decision is yes. Note: I was unable to check whether changes made to joint trajectory timer work ATM. Also, I'll change the desired branch from main to galactic after it is created

lukeschmitt-tr commented 2 years ago

Hi @Serafadam. We wanted to let you know that we've seen this and that we'll be able to review it when we have a little more bandwidth on our end. Your PR is very much appreciated!

lukeschmitt-tr commented 2 years ago

@Serafadam At long last, I've been able to review this PR. I pulled your branch and made some of my own modifications including adding the dynamixel workbench as a git submodule and updating the joint trajectory command functions.

I just want to make sure that you're not relying on this branch before I push my updates to your branch.

Serafadam commented 2 years ago

Hi, thanks for the response! I'm okay with the pushes, I made a separate branch just in case