MARTI Common

This repository provides various utility packages created at Southwest Reseach Institute's Intelligent Vehicle Systems section for working with Robot Operating System(ROS). This branch adds support for ROS 2 Dashing and newer releases. Most packages from ROS 1 have been ported, but a few have been removed due to being unnecessary or redundant, and some functionality is not implemented yet.

Build Status

ROS2 Distro	Branch	Build status	Released packages
Humble	humble		swri_cli_tools swri_console_util swri_dbw_interface swri_geometry_util swri_image_util swri_math_util swri_opencv_util swri_math_util swri_roscpp swri_route_util swri_serial_util swri_system_util swri_transform_util
Iron	iron		swri_cli_tools swri_console_util swri_dbw_interface swri_geometry_util swri_image_util swri_math_util swri_opencv_util swri_math_util swri_roscpp swri_route_util swri_serial_util swri_system_util swri_transform_util
Jazzy	jazzy		swri_cli_tools swri_console_util swri_dbw_interface swri_geometry_util swri_image_util swri_math_util swri_opencv_util swri_math_util swri_roscpp swri_route_util swri_serial_util swri_system_util swri_transform_util
Rolling	rolling		swri_cli_tools swri_console_util swri_dbw_interface swri_geometry_util swri_image_util swri_math_util swri_opencv_util swri_math_util swri_roscpp swri_route_util swri_serial_util swri_system_util swri_transform_util

Overview

What's changed in the ROS 2 port?

Removed packages:

1. marti_data_structures
   Nothing used this and it only contained a linked list
2. swri_nodelet
   Obsolete due to ROS 2's component mechanism
3. swri_rospy
   Unnecessary in ROS 2
4. swri_string_util
   Equivalent functionality is provided by boost
5. swri_yaml_util
   This package only existed in order to bridge nodes between ROS Hydro and ROS Indigo; use yaml-cpp directly now

Package migration notes:

1. swri_image_util
replace_colors_node has not been ported from ROS 1 yet due to extensive changes in how ROS parameters work

Installation (ROS 2 Humble, Iron, Jazzy, Rolling)

If you have installed ROS 2, you can install any of the packages in this repository with apt-get:

sudo apt-get install ros-${ROS_DISTRO}-<package>

Building From Source (ROS 2 Humble, Iron, Jazzy, Rolling)

These directions assume you have already set up rosdep. See the rosdep documentation on the ROS wiki for help setting up rosdep.

1. If you don't have a colcon workspace, create one:

   mkdir $HOME/workspace/src
   cd $HOME/workspace/src

2. Check out the source code

   cd $HOME/workspace/src
   git clone https://github.com/swri-robotics/marti_common.git

3. Install dependencies:

   # (In the root of this repository)
   rosdep install --from-paths . --ignore-src

4. Build

   cd $HOME/workspace
   colcon build