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ros-industrial / staubli

ROS-Industrial Staubli support (http://wiki.ros.org/staubli)
Apache License 2.0
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Are there efforts for a ros2 port? #37

Closed MarioSpeckert closed 3 years ago

MarioSpeckert commented 3 years ago

Hi, is there any known effort to port this and the staubli_experimental package to ros2?

gavanderhoorn commented 3 years ago

Not at this time.

Note that for staubli_val3_driver to be ported, industrial_core must be ported.

gavanderhoorn commented 3 years ago

I noticed https://github.com/MarioSpeckert/staubli/pull/1.

You might want to consider not porting the IKFast plugins: opw_kinematics probably makes more sense as an IK solver for 6dof industrial robots.

MarioSpeckert commented 3 years ago

Thanks for your reply and the hints on which components have to be ported. It seems to be a huge endeavor to port all the dependencies to ros2. We most likely stick to ros1 until we have a fully working system and try the port later.

gavanderhoorn commented 3 years ago

It seems to be a huge endeavor to port all the dependencies to ros2

which dependencies are you referring to here?

MarioSpeckert commented 3 years ago

To be honest I have not been digging too much into all the dependencies which need a port but from my first impression, especially from the industrial_port package, this is not done in a few hours, at least for me :) I'm not very experienced with ros2 and starting from a solid foundation with ros1 might be a better plan for now.