Open AlexKaravaev opened 2 years ago
This is great, thanks. I'll circle back around to review this as soon as I can. Merging into foxy is fine, we can re-arrange branches once this is released anyways.
Removed multiple sensor support. To be honest, I just don't know how it works and what are sensor id's and therefore I deleted it. If you can provide me some info about that, I can commit changes later.
I wish I could remember, but I imagine they existed for a reason. I haven't had access to a VICON system in years.
How can I install the VRPN dependency? I'm having this when I try to build with colcon:
Could NOT find VRPN (missing: VRPN_LIBRARY VRPN_INCLUDE_DIR QUATLIB_FOUND)
@evbernardes You should install it from here https://github.com/vrpn/vrpn
@AlexKaravaev thanks for the reply! Is there a special way I have to install in order for colcon to be able to use the library to correctly compile using it?
@evbernardes For me it was working with usual make && sudo make install
@AlexKaravaev I was definitely overthinking it, thanks! I managed to compile it, but I'll have to wait until my lab is open so I can test it with our mocap system.
Just a little thing though: I installed tf2 with apt get
and I had too change two lines from vrpn_client_ros.cpp:
And then it compiled!
@evbernardes Which ros-version and ubuntu you are using? Because in rolling it seems like with latest tf2 it explicitly says, that .h are deprecated
/overlay_ws/install/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h:35:2: warning: #warning This header is obsolete, please include tf2_geometry_msgs/tf2_geometry_msgs.hpp instead [-Wcpp]
35 | #warning This header is obsolete, please include tf2_geometry_msgs/tf2_geometry_msgs.hpp instead
| ^~~~~~~
In file included from /overlay_ws/src/vrpn_client_ros/src/vrpn_client_ros.cpp:40:
/overlay_ws/install/tf2_kdl/include/tf2_kdl/tf2_kdl.h:35:2: warning: #warning is a GCC extension
35 | #warning This header is obsolete, please include tf2_kdl/tf2_kdl.hpp instead
| ^~~~~~~
I see! I'm using galactic with Ubuntu 20.04, which is supposed to be the latest LTS release. I tried to install everything I can with apt to minimize these kinds of problems but I'm starting to think it wasn't the best option
Any updates on this one? I can see there is ros-foxy-vrpn-client-ros
available, but none for Humble, the current LTS release.
Is this PR meant to also work for humble?
Hi!
This is latest ros2 sync. I have tested it with ros2 rolling distribution and Optitrack setup with Motive with 2 distinct rigid bodies. Mostly it based on @zeroos PR #16 , but I've added also twist and accel publishing and also some changes described below.
Notable logical changes I made:
1) I added explicit calculation of twist and accel based on previous messages
2) Removed multiple sensor support. To be honest, I just don't know how it works and what are sensor id's and therefore I deleted it. If you can provide me some info about that, I can commit changes later.
Also, I think it should not be merged into foxy-devel branch, but instead we should create separate branch ros2 to track latest rolling version updates. But since I don't have the rights to create new branch I submitted PR to existing branch