ROS 2 Galactic EOL is coming up, and also it seems that with the latest BehaviorTree.CPP updates, Groot no longer builds on Galactic.
So, this is an update to Humble that aims to simplify things:
Removes the nvidia_ros core image and just bases things off a standard ROS image
Got close to removing source builds of the ROBOTIS turtlebot3 packages and using binary installs (apt-get install ...), however https://github.com/ROBOTIS-GIT/turtlebot3/pull/916 gets in the way so we're building this fork at the moment.
I also snuck in an enhancement where we actually read the Nav2 action status codes to return either SUCCESS or FAILURE in the BTs :)
Future work will involve switching from Makefile to docker compose, as well as maybe providing better build caching solutions and dev container workflows with IDEs like VS Code.
ROS 2 Galactic EOL is coming up, and also it seems that with the latest BehaviorTree.CPP updates, Groot no longer builds on Galactic.
So, this is an update to Humble that aims to simplify things:
nvidia_roscore image and just bases things off a standard ROS imageturtlebot3packages and using binary installs (apt-get install ...), however https://github.com/ROBOTIS-GIT/turtlebot3/pull/916 gets in the way so we're building this fork at the moment.I also snuck in an enhancement where we actually read the Nav2 action status codes to return either SUCCESS or FAILURE in the BTs :)
Future work will involve switching from Makefile to docker compose, as well as maybe providing better build caching solutions and dev container workflows with IDEs like VS Code.
Closes https://github.com/sea-bass/turtlebot3_behavior_demos/issues/9