se1exin
commented
2 months ago Hi @navdotnetreqs sorry I didn't see your issue earlier!
Yes I did consider that when I first made this port, however my original aim was just to get things working first. Not long after that I moved away from Chris's software (this) to ROS2, as I find it far more flexible (albeit a steeper learning curve).
Feel free to submit a PR if you want to do it yourself :)
Hi, knowing full well the original code isn't yours, have you considered splitting it up into separate files or functions, and perhaps refactoring/improving obviously copypasted parts to more generic counterparts, thus probably decreasing the lines of code by 80%? Chris Annin might even take the improvements into to the official publication.