This repo is deprecated. Users should upgrade to this repo https://github.com/RoverRobotics/roverrobotics_stack which has added support for Rover Zero 2
Hi! I thought you might like to know that I wanted to use this driver stack in ROS 2, and so I did a quick pass at converting it: https://github.com/pjreed/rr_openrover_stack.git (on the branch dashing-devel) Feel free to put it in your repo if you'd like, or if you want to create a dashing-devel branch here, I'll open a PR.
I know there is an openrover-ros2 repo that has a Rover driver with ROS 2 support, but it appears to be a complete rewrite that has a different set of features and parameters, and I wanted to be able to use it on my Rover with the exact same set of parameters as I use in ROS 1.
I would not call this a completely finished, polished conversion yet; I just converted what I needed in order to be able to publish a twist and drive my 4WD Rover around. There are definitely pieces missing and probably some bugs left. In particular, caveats to note:
I've only converted the rr_control_input_manager, rr_openrover_description, rr_openrover_driver, rr_openrover_driver_msgs, and rr_openrover_stack packages; it looks like rr_rover_zero_driver is still in an early stage of development and nothing else touches it, so I just put a COLCON_IGNORE in there
I saw that RoverRobotics has their own fork of this, but that didn't compile out of the box with the stock diagnostic_updater package in Dashing, so I decided not to spend time on it
I haven't converted the Python tests in rr_control_input_manager
I haven't converted any of the launch files except for rr_openrover_driver's 4wd_teleop launch file
With all that said, it works for me in ROS Dashing on Ubuntu 18.04.
We are currently not planning porting this repository to ROS2, but we will be creating a separate repository containing our full release of the ROS2 driver shortly.
Hi! I thought you might like to know that I wanted to use this driver stack in ROS 2, and so I did a quick pass at converting it: https://github.com/pjreed/rr_openrover_stack.git (on the branch
dashing-devel
) Feel free to put it in your repo if you'd like, or if you want to create adashing-devel
branch here, I'll open a PR.I know there is an
openrover-ros2
repo that has a Rover driver with ROS 2 support, but it appears to be a complete rewrite that has a different set of features and parameters, and I wanted to be able to use it on my Rover with the exact same set of parameters as I use in ROS 1.I would not call this a completely finished, polished conversion yet; I just converted what I needed in order to be able to publish a twist and drive my 4WD Rover around. There are definitely pieces missing and probably some bugs left. In particular, caveats to note:
rr_control_input_manager
,rr_openrover_description
,rr_openrover_driver
,rr_openrover_driver_msgs
, andrr_openrover_stack
packages; it looks likerr_rover_zero_driver
is still in an early stage of development and nothing else touches it, so I just put aCOLCON_IGNORE
in theretwist_mux
package, which doesn't have an official release in ROS2, but it works with this fork here: https://github.com/brightenlee/twist_mux/tree/dashing-develdiagnostic_updater
package in Dashing, so I decided not to spend time on itrr_control_input_manager
rr_openrover_driver
's4wd_teleop
launch fileWith all that said, it works for me in ROS Dashing on Ubuntu 18.04.