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aprotyas / trac_ik

ROS 2 port of `trac_ik`, an alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL.
BSD 3-Clause "New" or "Revised" License
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Update trac_ik_lib to use vanilla cmake instead of ament. #35

Open Levi-Armstrong opened 3 months ago

Levi-Armstrong commented 3 months ago

Would the maintainer be supportive of updating the core package trac_ik_lib to use vanilla cmake and remove the use of ament?

aprotyas commented 3 months ago

Totally open to it, though I don't want to regress the experience for package users within the ROS ecosystem. From what I understand the ament utilities are just a QoL improvement for ROS 2 package writers, since it just wraps around some CMake commands, so we should be able to make this work.

Having said that, I haven't been active in this space in a long time, and probably won't have sufficient time to address this correctly any time soon. @Levi-Armstrong, any interest in doing the typing? 😄