Closed clalancette closed 4 years ago
@stonier Now that we have merged and released the fixes for ecl_core stuff, I can now build this package against Eloquent. We still won't be able to port all of the launch files until we deal with https://github.com/kobuki-base/cmd_vel_mux/issues/1 , but I think this is in good enough state to review and merge this. Thanks!
And I've now ported the launch files and configuration files to ROS 2.
@stonier Friendly ping here; mind reviewing and merging this if you think it is good?
Another friendly ping; can we go ahead and merge this? It would be nice to get this released for Eloquent and Foxy.
Hello @stonier ! I'd like these changes, too - just bumping your notification stream :)
@clalancette Perhaps needed an unfriendly ping! Still catching up elsewhere and with the underlying kobuki repositories after a bit of a haitus. Lockdown and remote working was fun, software testing actually became imperative. However, am finally ... moving ... again ... on kobuki! :)
I haven't tested this, but looks like you've done some preliminary testing and code looks to be in good shape to be a useful launching pad for hardening the progress from here. We were in a non-functional state anyway, so this is a big step :)
Just left some comments / queries, but let's get this in.
Squashed with your useful PR description as the commit summary.
@clalancette Perhaps needed an unfriendly ping! Still catching up elsewhere and with the underlying kobuki repositories after a bit of a haitus. Lockdown and remote working was fun, software testing actually became imperative. However, am finally ... moving ... again ... on kobuki! :)
No worries! Thanks for taking a look.
I haven't tested this, but looks like you've done some preliminary testing and code looks to be in good shape to be a useful launching pad for hardening the progress from here. We were in a non-functional state anyway, so this is a big step :)
I've been running the robot around (on Eloquent) with this patch for a while now, and things seem to be working OK for me. So we're at least in a semi-functional state, though I can't say I've tested every combination of everything. I'll take a look at the PR for Foxy as well now.
Thanks again!
I was running around using this patch (+ a tiny fix for std::move semantics) on Foxy this weekend
This PR is a series of fixes to make the Kobuki base actually work. It requires https://github.com/stonier/ecl_core/pull/101 to actually build properly. With these changes in place, I was able to verify:
/command/velocity
.I haven't yet tried out some of the other commands (like setting the LEDs, resetting odometry, etc). I also need to finish porting the launch files and configuration files. But this is a good start.