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ros-perception / ar_track_alvar

AR tag tracking library for ROS
www.ros.org/wiki/ar_track_alvar
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Ros2 devel #90

Open pmusau17 opened 3 years ago

pmusau17 commented 3 years ago

ros2 port of ar_track_alvar

pmusau17 commented 3 years ago

friendly ping for review @machinekoder @130s

kscottz commented 3 years ago

@mjcarroll @130s

Patrick put together this first pass at a ROS 2 version of ALVAR for Rolling (it builds on Foxy with some hand holding related to perception PCL). The current issue with the package is that the vendored library (ALVAR) was built around deprecated OpenCV APIs. Patrick used an upgraded version of the vendored package and then ported everything to ROS 2. The upgraded vendor code was formatted differently hence the huge PR. We went throught and resolved my comments, built the package, and ran the tests / examples.

This was a fairly heroic effort and I am not sure if it is worth doing again but this should buy users a few years. We put a deprecation note in the docs to suggest to the 14 downstream packages to look for an alternative solution. There are still a lot of build warnings that need to be addressed as well. We are hoping someone can do this as a subsequent PR. Finally, while the tests and launch files run they require some work to load the ROS 1 bags to run the tests. This feels like it could stand to be a subsequent pull request as well.

TL;DR this is most of the way there but we have a few more steps to get it read for release.