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ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)
GNU Lesser General Public License v3.0
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Second Try at Dashing Port #359

Closed JWhitleyWork closed 4 years ago

JWhitleyWork commented 4 years ago

Re-opening this PR with a cleaned-up git history.

All packages have been ported with the exception of canopen_motor_node to ROS Dashing.

The following are issues or have yet to be addressed:

  1. Some tests on socketcan_interface are failing.
  2. Some tests on socketcan_bridge are disabled and need to be converted to use launch_testing.
  3. Nodes here should really be LifeCycle Nodes since many of them are likely to be used in system-critical roles.
  4. Certain nodes should be made available as Components.
JWhitleyWork commented 4 years ago

Thanks to @ipa-mdl and @samiamlabs for your contributions!

JWhitleyWork commented 4 years ago

@ipa-mdl - Is it possible to merge this port as-is and we continue to work on it on the dashing-devel branch?

JWhitleyWork commented 4 years ago

@ipa-mdl Bump

mathias-luedtke commented 4 years ago

@JWhitleyAStuff: Sry, I did not have much time to deal with this PR.

Is it possible to merge this port as-is and we continue to work on it on the dashing-devel branch?

I don't want to push this to devel. It is not in a proper shape (for release, etc.) yet. If you really want to get it out of your fork, I could push it to dashing-experimental branch. In constrast to dashing-devel, we can rebase it etc.

I'd like to start with merging style changes first (incl h->hpp). Then the non-ROS packages (catkin->ament) and finally the ROS packages (ROS1->ROS2). The latter needs more attention, because I not super familiar with ROS2 yet and I want to take the chance to refactor it a little bit.

Long story short:

JWhitleyWork commented 4 years ago

@ipa-mdl I'm OK with this. With regard to getting the release process going, I am mostly concerned with getting can_msgs ported and released since many of AutonomouStuff's drivers rely on can_msgs/Frame (and I believe several others are in the same situation). Your plan is OK with me for the overall porting process, though.

mathias-luedtke commented 4 years ago

I am mostly concerned with getting can_msgs ported and released

That should be rather easy :) I just have to check if I can keep the other catkin packages in the repository during our refactoring. Another option would be to use https://github.com/ros-industrial/socketcan_interface for ROS2. I will try to port at least can_msgs as soon as possible.