I bumped the version of zenoh_bridge_dds to 0.7.2-rc and used the new ament_vendor() macro to vendor it. Previously nexus was using pre-built binaries from a fork. This PR now builds it from source.
I removed the call to ros2 run in zenoh_bridge.launch.py. I was seeing a lot of ros2 run and zenoh_bridge_dds processes running from failed test runs, and I thought getting rid of the intermediate process would fix it. I'm not sure if it did, but it's at least one less process running. I'm not sure this change is strictly necessary for Iron so I'd be happy to move it to another PR.
This migrates the nexus packages to ROS iron.
It requires https://github.com/Yadunund/abb_ros2/pull/2
There is an issue in upstream moveit2 that still requires
nexus/thirdparty.reposto get thenexus_integration_teststests to pass. The fix has already been backported (https://github.com/ros-planning/moveit2/pull/2300), so it will be resolved when Moveit makes a new release into Iron (https://github.com/ros-planning/moveit2/issues/2327).I bumped the version of
zenoh_bridge_ddsto0.7.2-rcand used the newament_vendor()macro to vendor it. Previously nexus was using pre-built binaries from a fork. This PR now builds it from source.I removed the call to
ros2 runinzenoh_bridge.launch.py. I was seeing a lot ofros2 runandzenoh_bridge_ddsprocesses running from failed test runs, and I thought getting rid of the intermediate process would fix it. I'm not sure if it did, but it's at least one less process running. I'm not sure this change is strictly necessary for Iron so I'd be happy to move it to another PR.