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ros-perception / depthimage_to_laserscan

Converts a depth image to a laser scan for use with navigation and localization.
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Upstream ros2 port #38

Closed clalancette closed 5 years ago

clalancette commented 5 years ago

This is a port of this package to ROS 2, initially done in https://github.com/ros2/depthimage_to_laserscan . This PR does a few things:

  1. Does an initial port of the node to ROS 2
  2. Updates the code style to conform to ROS 2
  3. Removes all boost references
  4. Removes the nodelet version of the code, since in ROS 2 all nodes should eventually be composable.

To be clear, this port does not make DepthImageToLaserScanROS composable right now. To do that, we would have to make DepthImageToLaserScanROS derive from rclcpp::Node, and then refactor around that. That seems like good follow-up work, since this is already a large enough PR.

Once this is merged, I will deprecate https://github.com/ros2/depthimage_to_laserscan , and release this version into ROS 2 Crystal (and beyond) instead.

chadrockey commented 5 years ago

I’ll add you to the maintainers list as soon as I get back to a real computer.

clalancette commented 5 years ago

@chadrockey Would you mind also giving me write access to this repository and https://github.com/ros-gbp/depthimage_to_laserscan-release.git so I can do releases into Crystal/etc from it? Thanks!