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ros-perception / laser_filters

Assorted filters designed to operate on 2D planar laser scanners, which use the sensor_msgs/LaserScan type.
BSD 3-Clause "New" or "Revised" License
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[laser_filters] ROS2 Migration #67

Closed Rohita83 closed 3 years ago

Rohita83 commented 5 years ago

This PR adds following changes for laser_filters pkg on crystal.

  1. Replaced Ros1 build/buildtool/exec dependency packages with respective Ros2 or newer packages Removed certain Ros1 packages that are not availabe in Ros2 e.g. ament_cmake --> ament_cmake_ros rostime --> removed
  2. Header files are renamed w.r.t. Ros2 specifications and packages. e.g. <geometry_msgs/msg/Point32.h> --> <geometry_msgs/msg/point32.hpp>
  3. Code changes to make use of new rclcpp::Parameter, rclcpp::Clock, rclcpp::Node APIs
  4. Code changes w.r.t. 'filters' migration PR https://github.com/ros/filters/pull/24
  5. Added new ROS2 style '.yaml' and '.launch.py' files under launch folder
  6. Tests files are updated w.r.t. Ros2 packages headers and classes. All gtests have passed successfully.
  7. Logging enabled w.r.t. Ros2 logging APIs
  8. Cosmetic tests: cppcheck. cpplint, uncrustify passed.
  9. General clean up
  10. README explains build and run steps for laser_filters and dependent packages, limitations of current implementation, .yaml file structure w.r.t. Ros2 specifications.

@jonbinney and @tfoote Requesting you to review this PR and provide your valueable commets.

Thank you.

YoshuaNava commented 5 years ago

This PR is too large. Can it be divided into smaller contributions?

jonbinney commented 3 years ago

Looks like we merged https://github.com/ros-perception/laser_filters/pull/101 so I'm going to close this. Let me know if it is still needed.