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rolker / halo_radar

ROS node to interact with Halo series marine radar.
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ROS2 support #3

Open gWOLF3 opened 3 weeks ago

gWOLF3 commented 3 weeks ago

Also, I was wondering if there is or if you have thought about support for ROS2? Managed to get the dependencies to compile, but as expected halo_radar_node and the serialization is being a pain to deal with though I am 70% of the way there.

Edit: Got a breakthrough and got halo_radar to compile. If open to it, I could create a branch for humble on here. Currently only way to start the radar is through ROS1, not sure why the subscriber isn't passing the json, but it is possible to read values from the radar intensity array.

I've started the process of porting my packages to ROS2 so I would welcome a PR with what you have so far!

_Originally posted by @rolker in https://github.com/rolker/halo_radar/issues/2#issuecomment-2047387200_

@starlight-traveler - if you have time, could you go ahead and submit your branch for humble as a starting point?

starlight-traveler commented 3 weeks ago

Hey, I'll be honest here and say a lot has changed since I wrote that -- the main compute module that ran that code sank with our project in testing, so we do not have that anymore, we probably don't have a copy of it, but I'll check, we never actually used the code so it was not committed. It wasn't too hard, a lot of it had to do with managing dependencies, but it probably wouldn't be too useful to you.

If I find it I will make a note here, but I would suggest starting from scratch.

We have since moved over to stripping ROS and using pure C++ which has improved our workflow, if that would help your use case please let me know.

gWOLF3 commented 3 weeks ago

@starlight-traveler Thanks for you reply!

Pure C++ sounds very interesting -- using ROS can be quite clunky at times. Do you have a public repo? Would love to check it out.

starlight-traveler commented 3 weeks ago

Here, I uploaded what I have locally, I will be back in my lab in a few days and see if I can pull from the main project the most recent version of our radar code, I can't verify this works -- but I know the one on our LPV does, will update when I can confirm:

Most of it is just stripping ROS out of Rolker's code and getting unix alternatives.

https://github.com/starlight-traveler/radar.git

gWOLF3 commented 3 weeks ago

Amazing. Thank you! @starlight-traveler

rolker commented 6 days ago

Looks like a group has ported the driver to ROS2. They just opened and quickly closed a pull request. Perhaps they are not ready to submit it, but I want to make sure efforts aren't duplicated. https://github.com/JetSeaAI/simrad_halo20_radar/tree/development