search

ethz-asl / voxblox

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
BSD 3-Clause "New" or "Revised" License
1.33k stars 358 forks source link

ROS2 Support #364

Open paucarre opened 3 years ago

paucarre commented 3 years ago

I'd like to know if you have currently any work regarding support for ROS2 or you know of any work supporting ROS2.

In case there isn't ongoing work, I'd like to know if you'd be open to get the project ROS2-supported (i.e. reviewing PRs related to ROS2 support)

paucarre commented 3 years ago

@ruffsl @ToniRV @victorreijgwart

FYI, there is limited and partial ROS2 support for voxblox in https://github.com/cmrobotics/voxblox/tree/ros2 . The library in voxblox and voxblox_msgs folders can be built using ROS2 foxy colcon tool ( I updated most dependencies to generic libraries off the ETH custom repos ) . The ROS1 nodes in voxblox_ros are not ported as of now, and that's what's left to migrate the whole thing.

I was wondering if you know of any interest to join efforts to port ROS1 nodes to ROS2.

alexmillane commented 3 years ago

Hi Pau,

Thanks for your interest and your efforts thus far. Currently (as far as I'm aware) everyone here at the Autonomous Systems Lab at ETH is still on ROS1. I guess at some point that will have to change, but for now, we're delaying that transition.

Let's leave this issue here and maybe someone else will express interest at some point?

FullMetalNicky commented 3 years ago

Hi Pau,

Thanks for your interest and your efforts thus far. Currently (as far as I'm aware) everyone here at the Autonomous Systems Lab at ETH is still on ROS1. I guess at some point that will have to change, but for now, we're delaying that transition.

Let's leave this issue here and maybe someone else will express interest at some point?

Are you planning to support ROS1 Noetic at least? I just tried building according to your wiki and got multiple errors. EU-funded robotics projects now target Ubuntu 20.04, so ROS1 Noetic or ROS2 is required.

alexmillane commented 3 years ago

Maybe make another issue on the noetic build issues? Even better would be a PR correcting them :)

nrgsy commented 2 years ago

Putting my vote in for ROS2 support @alexmillane.

Using ROS2 on Ubuntu 20.04 or even 22.04 is increasingly common in my circles. I'm hoping voxblox continues to be supported well into the future, I haven't found a better 3D mapping library for mobile robots and like to recommend it as much as I can! But it's getting harder to do so as more folks are upgrading to ROS2.

dongchany commented 2 years ago

Is there plans to move this in ROS2? Or I can get involved.

alexmillane commented 2 years ago

Thanks for your love of voxblox everyone. Unfortunately, I can't see myself having time to transition voxblox to ros2.

One option, if you have an NVIDIA graphics card or are running on a Jetson device is to use nvblox, which is ROS2 native (and quite a bit faster). I know that's not a perfect solution, however.

If someone makes a pull request for a ROS2 node. I am happy to review it. Although, we should probably keep this on a separate branch.

murraylouw commented 6 months ago

I created a PR for this. #413

I have only migrated the main executable tsdf_server and all its dependencies to ROS2. The rest of the executables are still a work in progress.

It can successfully run basement_dataset.launch.py and cow_and_lady_dataset.launch.py