sensors launch

[AbBaSaMo]

• [x] configure an overarching launch file that launches all sensor drivers across
  • [x] VLP16
    • [x] driver
    • [x] pcl converter
    • [x] laserscan converter
  • [x] Z Camera
  • [x] Swift Nav unit

[AbBaSaMo]

@dylan-gonzalez @AnthonyZhOon @zcdai

Anyone have any idea how I can include zed_wrapper as a dependency to the esda_launch package and launch it under the sensors_launch.py file?

Package.xml is as follows

Rosdep install yields the following

I know the issue is that [for some reason] the ros packages are not listed here https://github.com/ros/rosdistro/blob/master/humble/distribution.yaml and hence unavailable for rosdep to 'see'.

What's the best practice way to proceed? Using submodules as @dylan-gonzalez you mentioned Thursday?

[AbBaSaMo]

Did the following

cd ESDA;
git submodule add https://github.com/stereolabs/zed-ros2-wrapper.git zed-ros2-wrapper;
cd zed-ros2-wrapper;
git submodule update --init --recursive;  # the repo has a submodule it seems

cd ../../
rosdep install --from-paths ESDA --ignore-src -r -y
colcon build

Resulted in

No Idea what the colcon warning is. I think it's because I previously built in the wrong file and removed the log, install, build dirs. As for the issues with zed_wrapper building, it might be the way I installed the Z SDK and cuda dependency? Idk how to determine or fix that though.

[AbBaSaMo]

Managed to get the Z wrapper working on beauty?beast? as well as add submodules for zed_wrapper and one for velodyne pointing to our fork. Launch works without errors when tested while no sensors hooked up.

Confident it will work when we connect everything anyway so closing this issue until further notice.

[AbBaSaMo]

Note for future when building esda_launch:

• submodule init/update must be recursive due to zed repo
• must build using the argument zed ros2 guides provide and cannot just use colcon build

colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release