This is the initial commit that I got working in ROS2. As of now only yak has been tested. The other nodes have started to be ported, but are completely untested and certainly need some refinement. I had to split the msgs package off because of issues with ros2 python packages and creating messages. This is probably a better setup anyways. Other than that the interface from the outside looks exactly the same, just in ROS2.
This is the initial commit that I got working in ROS2. As of now only yak has been tested. The other nodes have started to be ported, but are completely untested and certainly need some refinement. I had to split the msgs package off because of issues with ros2 python packages and creating messages. This is probably a better setup anyways. Other than that the interface from the outside looks exactly the same, just in ROS2.