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kobuki-base / kobuki_ros

ROS2 runtime libraries, nodes and launchers for the Kobuki
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requests for kobuki_auto_docking and kobuki_bumper2pc #23

Closed wn1980 closed 2 years ago

wn1980 commented 2 years ago

Hello Developers,

First of all, I would like to thank you guys very much for making the Kobuki running on ROS2. I have tried these ROS2 packages on my real Kobuki. Everything seems to work fine. However, I still need the kobuki_auto_docking and kobuki_bumper2pc to work on ROS2. Have you guys planned to port these packages to ROS2?

clalancette commented 2 years ago

I did a port of kobuki_bumper2pc to ROS 2 a while ago. You can find the code here: https://github.com/clalancette/kobuki_ros/tree/clalancette/port-bumper2pc . That said, I only ever verified that it compiled, I never tried to run it. If you'd like to run it and report back if it works for you, I can then open a pull request for it.

I never got to kobuki_auto_docking. If you really need it, it should be relatively straightforward to port it by following the pattern that I used for kobuki_bumper2pc. If you don't have time to do it, it's on my long-term list to port, but it may be a while.

wn1980 commented 2 years ago

@clalancette Thank you very much for your help. I have tried the kobuki_bumper2pc package. It can be compiled and run on Ubuntu arm64 platform. Please see my launch file for details: https://github.com/wn1980/turtlebot2_ros2/blob/master/launch/bringup.launch.py. The obtained result seems to be correct that I have seen the pointcloud in RVIZ2. Next step, I will use it with the navigation stack. I will report the result if I have the update.

For kobuki_auto_docking, I will try to port by myself as you suggested. However, if it is not success, I hope you will finish porting the package in near future.

clalancette commented 2 years ago

@clalancette Thank you very much for your help. I have tried the kobuki_bumper2pc package. It can be compiled and run on Ubuntu arm64 platform. Please see my launch file for details: https://github.com/wn1980/turtlebot2_ros2/blob/master/launch/bringup.launch.py. The obtained result seems to be correct that I have seen the pointcloud in RVIZ2. Next step, I will use it with the navigation stack. I will report the result if I have the update.

Excellent, thanks for testing it! I'll open a PR with it.

wn1980 commented 2 years ago

Finally, I have already ported kobuki_auto_docking to ROS2. Please find the source here https://github.com/wn1980/kobuki_ros. I also made the pull request to combine to this main repos.

clalancette commented 2 years ago

Both of these have been ported and merged in, so closing this out. Thanks again for the contribution.

wn1980 commented 2 years ago

@clalancette Thank you very much and I am sorry for giving lately response. Currently, I am busy on managing the Kobuki to work with navigation system on ROS2, i.e., slam_toolbox and nav2.