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osrf / subt

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
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Extract all ROS messages into a message-only package #625

Open peci1 opened 4 years ago

peci1 commented 4 years ago

After cave, I'd really suggest to do some refactoring and move all ROS message and service definitions to a message-only package, as is a good manner in other ROS projects. That would allow people to actually create solution Docker images which do not contain the Subt repo with all its large dependencies, but just with one dependency-less package. That would be heaven :-D

To make the refactoring really useful, it'd also be nice to separate the parts of submitted models that actually build ignition plugins into separate packages. That would allow people to pull the robot resources (meshes, urdf) without needing to install Ignition stuff.

zbynekwinkler commented 4 years ago

You would still need #138 for that to work. We tried to propose that already in #35 all the way back in 2018 :worried:. For some context see also #113.

peci1 commented 4 years ago

You're right, comms client would also drag in subt workspace dependencies...