ROS 2 support?

[swarajpeppermint]

Does this support ROS 2?

[MoffKalast]

Right now it's Noetic only (possibly Melodic if compiled with python3, though untested) @b1n-ch1kn is taking a crack at a ROS 2 port: https://github.com/b1n-ch1kn/vizanti/tree/ros2 though it's not completely working yet.

[MoffKalast]

Ok so it might be useful to continue the discussion here, from https://github.com/MoffKalast/vizanti/pull/15, since the build is partially working now, on branch ros2.

The list of things tested and fixed, and those left either untested or still requiring work:

• [x] Global Settings
• [x] Grid
• [x] TF
• [x] Robot Model
• [x] Dynamic Reconfigure (needs partial rework, disabled)
• [x] Bag Recorder (sometimes won't report correct recording status)
• [x] Node Manager (a bit iffy in terms of finding executables and killing nodes)
• [x] Add new visualizer/widget (though seems to have higher latency in finding new and discarding old topics)

---

• [x] Teleop Joystick (tested with turtlesim)
• [x] 2D Pose Estimate (tested with nav2 demo)
• [x] 2D Nav Goal (tested with nav2 demo)
• [x] Waypoint Mission
• [x] Area Mission
• [x] Button (tested Empty with vrx ball launcher)

---

• [x] Map (tested with dummy_robot_bringup)
• [x] Satellite Tiles (tested with vrx)
• [x] Battery
• [x] Compressed Image (tested with turtlebot, depth images don't show up since the format isn't jpeg, but that's expected)
• [x] Marker Array
• [x] Path
• [x] Range
• [x] LaserScan (tested with dummy_robot_bringup)
• [x] PoseWithCovarianceStamped
• [x] Pose Array
• [x] Temperature

@swarajpeppermint if you've got a robot that has any of the unchecked topics above to visualize, it would be a great help to try and confirm what works and what doesn't. I'm still struggling to find good ROS 2 demos in gazebo or rosbags that would test the bulk of it.

[MoffKalast]

Ok got the nav2 demo working to some extent, the Header seq param no longer exists, so it was throwing errors. That should fix initialpose and simple goals.

https://github.com/MoffKalast/vizanti/assets/9977799/d9cc6fb3-d447-433c-8651-4905c02d6d73

[swarajpeppermint]

@MoffKalast sure. It looks like an interesting project that we can check/use in our organization internally (and probably even contribute to). I've shown this issue to another Robotics Engineer in the team. If we decide to explore this, we'll definitely get back to you.

[MoffKalast]

Alright this seems more or less done now, with #27 merged.