Closed wn1980 closed 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.
@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 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.
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.
Both of these have been ported and merged in, so closing this out. Thanks again for the contribution.
@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.
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?