ROS2 Issues

[mikeferguson]

Major systems:

• [x] arm gravity comp
• [x] base controller
• [x] follow joint trajectory (arm, arm w/ torso, head)
• [x] point head controller
• [x] head camera (mostly working - could use refinement)
• [x] teleop
• [x] calibration
• [x] navigation2
• [x] moveit2

Dependencies to be ported to ROS2:

• [x] openni2_camera (mostly working)
• [x] robot_controllers_msgs
• [x] robot_controllers_interface
• [x] robot_controllers - ported, still need to test cartesian, some updates to params expected
• [x] robot_calibration_msgs
• [x] robot_calibration
• [x] ubr_drivers - joint states and imu are publishing. controllers that are ported run
• [x] ubr1_bringup - need to add calibration parameters
• [x] ubr1_description
• [x] ubr_msgs
• [x] ubr_teleop

Dependencies not in debs:

• [x] robot_calibration
• [x] robot_calibration_msgs
• [x] laser_proc
• [x] urg_c
• [x] urg_node_msgs
• [x] urg_node

[mikeferguson]

Navigation2 is mostly working, to resolve:

• [x] Add head camera (either tilt head script, maybe also Fetch Depth Layer)
• [x] Tune controller a bit

[mikeferguson]

• [ ] Integrate the IMU into odometry with robot_localization

[mikeferguson]

• [x] ubr1_navigation needs a dependency on python3-transforms3d (will need a rosdep key for the apt package)