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kobuki-base / kobuki_ros

ROS2 runtime libraries, nodes and launchers for the Kobuki
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More minor ROS 2 cleanups #34

Closed clalancette closed 2 years ago

clalancette commented 2 years ago

This PR does 6 different things:

  1. Adds a small TODO to the safety controller for a possible logical error
  2. Switches to the rclcpp_components_register_node functionality to generate binaries. This gets rid of quite a bit of boilerplate code.
  3. Updates all of the package.xml versions in here to be the same version. This doesn't have much practical effect now, but it will if we try to release this into a ROS distribution.
  4. A few more include cleanups.
  5. Registers the random_walker node, otherwise it can't actually be loaded as a component.
  6. Enables the safety controller by default.

All of these changes came out of basic testing locally. Still more testing to do, but these changes certainly improve the situation.

clalancette commented 2 years ago

As with the others, just going ahead and merging this in. Happy to do fixes later on.