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locusrobotics / fuse

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
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Missing humble-devel branch #339

Open fvlvivs opened 1 year ago

fvlvivs commented 1 year ago

Dear all,

We are going to introduce IMU on our 2D mobile robot. An online search showed that fuse is going to be considered the future for sensor fusion in the ROS framework. Our software is based on the humble distro, and we noticed that fuse misses that. Is there any intention to have this package on humble too?

johnny555 commented 4 months ago

I think it won't work because fuse seems to depend upon API changes introduced in Iron. Specifically:

https://docs.ros.org/en/humble/Releases/Release-Iron-Irwini.html#addition-of-a-new-paradigm-for-handling-node-and-lifecyclenode

I'm pretty sure this is why I get errors like (when compiling on humble): 

src/fuse/fuse_core/include/fuse_core/node_interfaces/node_interfaces.hpp:20:10: fatal error: rclcpp/node_interfaces/node_interfaces.hpp: No such file or directory
   20 | #include <rclcpp/node_interfaces/node_interfaces.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

I think we would need to back port the node/lifecycle node interfaces to humble if we want to use Fuse, but I could be wrong.

There was also a backport request https://github.com/ros2/rclcpp/issues/2309 however it looks like it never happened.

giafranchini commented 4 months ago

Hi, last year me and a collegue of mine backported some features of rclcpp in order to compile fuse in Humble, maybe can be useful to you too. If you are interested I did a fork back then https://github.com/giafranchini/rclcpp/tree/humble

sukhrajklair commented 3 months ago

@giafranchini I tried to build with your fork of rclcpp but the fuse_publishers package failed to build as it relies on tf2_ros. Have you managed to build fuse for humble?

giafranchini commented 3 months ago

Yes you're right, we also did that backport I just didn't remember since then we switched to iron. Here it is: https://github.com/giafranchini/geometry2/tree/humble