Support ROS2 humble

[Tacha-S]

Change Summary

Migrate hardware interface to ROS2 humble.

• fix #44

Details

Impacts

References

Additional Information

• joint_limits_interface is not yet implementation. https://github.com/ros-controls/ros2_control/blob/master/joint_limits_interface/COLCON_IGNORE
• Since robot_description can not load, jointtype is hard-coded.
• Timer events and std::thread also do not work properly, so control() is executed in cycle controller R/W.

[jsupratman13]

Thanks! Give me a little bit of time to learn how ROS2 works.

[jsupratman13]

Timer events and std::thread also do not work properly, so control() is executed in cycle controller R/W.

Does this mean that timer event doesn't work properly when multiple vesc_hardware_interface are loaded in the ResourceManager?

[Tacha-S]

No, It means that hardware_interface can't create timer, because it's not node(don't have nodehandler).

[jsupratman13]

Gotcha. We should consider moving the custom pid controls outside the hardware interface in the near future. For now, this looks good to me.