Partly migrated Voxblox to ROS2.
This will hopefully help Voxblox to be used in more future research because ROS1 is deprecated.
ROS2 branch
Since I do not have write access, I cannot create a new branch in the repo.
I suggest these options to let Voxblox for ROS1 and ROS2 coexist:
Create a new repo called Voxblox2
Add a branch ros2 and add a link and description to it in the README and docs
Create a release tag for the current ROS1 version and continue commits to master for the ROS2 version with subsequent release tags.
Contributions
Added Dev Container for consistent dev environment and easy setup (ROS2 Humble)
Successfully migrated tsdf_server_node and all its dependencies to ROS2.
Successfully migrated voxblox-rviz-plugin to ROS2.
Successfully tested Voxblox with basement_dataset and cow_and_lady_dataset after converting the bag files to ROS2.
Updated the README with instructions for Voxblox with ROS2.
Added modified source code of minkindr and minkindr_conversion because of breaking changes with ROS2 (only the functions referenced by Voxblox were included).
Future work
Migrate esdf_server_node and the remaining executables to ROS2. Most of the code base has been migrated but there are still compilation errors for some executables at the moment.
murraylouw
commented
4 months ago
Partly migrated Voxblox to ROS2. This will hopefully help Voxblox to be used in more future research because ROS1 is deprecated.
ROS2 branch
Since I do not have write access, I cannot create a new branch in the repo. I suggest these options to let Voxblox for ROS1 and ROS2 coexist:
ros2and add a link and description to it in the README and docsContributions
tsdf_server_nodeand all its dependencies to ROS2.voxblox-rviz-pluginto ROS2.basement_datasetandcow_and_lady_datasetafter converting the bag files to ROS2.minkindrandminkindr_conversionbecause of breaking changes with ROS2 (only the functions referenced by Voxblox were included).Future work
esdf_server_nodeand the remaining executables to ROS2. Most of the code base has been migrated but there are still compilation errors for some executables at the moment.