Closed 130s closed 1 year ago
Thanks, Isaac for creating this post.
All, Please let me know if any of you have any concern for my team to work on openni2_launch porting to ROS2.
Thanks, Dan
For anyone looking at this - I've got a port of openni2_camera started here: https://github.com/mikeferguson/openni2_camera/tree/ros2
Status:
This has been tested with a Primesense Carmine 1.09 and an Asus Xtion on Ubuntu 20.04 and ROS Foxy. I'm planning to resolve the remap problem before opening a PR to incorporate things here.
I'm getting interested (finally) in getting openni2 to work on ros2. Just pushed ros2 branched off of ros1
branch (so no work has been added regarding ros2 yet).
@mikeferguson Is your branch ready to be merged into main repo (i.e. here), or would you keep your fork (if so why)?
@v4hn I saw in ros-o a patch https://github.com/ros-o/openni2_camera/commits/obese-devel C++17 patches. Is that meant to be generic I'd be happy to merge in here.
@v4hn I saw in ros-o a patch https://github.com/ros-o/openni2_camera/commits/obese-devel C++17 patches. Is that meant to be generic I'd be happy to merge in here.
Yes, to the best of my knowledge they should be compatible with C++11 (they mostly remove annotations nobody relied on). That said I did not test them on anything pre-c++17 yet. Feel free to cherry-pick/merge them from the ros-o branch, I did not get around yet to file a PR.
My branch could certainly come over here - I was mainly waiting to be "feature complete" - which is currently blocked on lazy subscribers (which hopefully are coming in Iron turtle). That said, it looks like I'm going to have to manually merge a bunch of stuff since it was forked off like 2+ years ago - so it will take a bit of time
Ok - it wasn't so bad to rebase - https://github.com/ros-drivers/openni2_camera/pull/115 still needs testing, but is open for comment/review. Changes from my earlier ros2 branch:
I'm not actually sure how to switch the CI over to ROS2 - maybe @130s you can open a PR for that and then I can rebase again (It seems like it uses the default branch config rather than what is in the PR)
Most of the key stuff is merged - still getting the build to be right in CI (there were some package.xml things wrong)
Remaining work is now in individual tickets:
CI is working - I think we've got as much done as we can for now - really waiting on lazy subscribers and image_proc/depth_proc stuff to complete openni2_launch
Thanks @mikeferguson ! I set the default branch to ros2
.
https://github.com/ros-drivers/openni2_camera/pull/122#issuecomment-1441092996
I'll need to create a new ros2-gbp in the shared org so that we can release to rolling
I have never made a bloom
release yet. Does bloom
want a new GBP repo for ROS2 release?
Looks like it does according to What if my existing release repo isn’t on ros2-gbp? (docs.ros.org), and I don't have a right to create a new repo:
If you are porting a ROS 1 package to ROS 2 and planning on releasing your packages into ROS 2 for the first time, follow standard procedure to request for a new release repository for your ROS 2 releases.
It's not really that bloom requires it - it's the other automation around rolling releases - we want to create a GBP that the upstream ROS2 team has access to, so that they can bloom the first releases from rolling into the next ROS2 release (basically, in April/May there will be a day where they create the first Iron releases for everything in Rolling - that way they don't have to wait for every maintainer to do it in dependency order)
I've created several teams/gbps for ros2 - it's fully automated, I'll tag you on the PR when I create it (and add you as a team member so you'll have commit rights once the repo is created)
I set the default branch to ros2.
I finally did this (I thought I already did, but turned out I didn't).
Continued from a discussion.
For those who are interested in making this happen, please voice up here.
(As a maintainer personally, I'm not planning to spend any of my time on this in the forseeable future.)