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clydemcqueen / tello_ros

C++ ROS2 driver for DJI Tello drones
BSD 3-Clause "New" or "Revised" License
193 stars 65 forks source link

Refactor to use components and support IPC #37

Closed clydemcqueen closed 4 years ago

clydemcqueen commented 5 years ago

An early look, would like feedback on naming and structure A fairly big change, in part due to auto-format whitespace changes that I missed before Fixes #24 Tested w/ emulator Needs more testing, and I'd like take another look at deps to see if we can drop cv_bridge

ptrmu commented 5 years ago

I think the name changes are really helpful. It is way more obvious which is a node.

ptrmu commented 5 years ago

Dropping cv_bridge would be nice. But maybe it is useful to ensure compatibility between ROS2 and OpenCV image formats in the future. On the other hand neither of those systems is going to change its image format within the lifetime of our code. :)

clydemcqueen commented 5 years ago

Looking at the code, it should be easy to get rid of both cv_bridge and OpenCV deps. In fact, there's an issue to track this: https://github.com/clydemcqueen/tello_ros/issues/6

I'm going to leave this as-is for now.

clydemcqueen commented 5 years ago

Tested w/ a real drone. Tested w/ ros2 component xxx commands.

Not yet done: testing manual composition and IPC between tello_driver and fiducial_vlam. I think this test will be interesting, but I won't check in the resulting code, since I don't really want to add a dep on fiducial_vlam.