search

tormach / hal_ros_control

A real-time ros_control implementation with Machinekit HAL and boilerplate
Other
47 stars 23 forks source link

Any plans for hal_ros2_control? #4

Closed samuk closed 2 years ago

samuk commented 3 years ago

Hi I was interested in this approach, but working in a ROS2 environment. Do you have any plans for a ROS2 version?

Also raised on MachineKoder article

zultron commented 3 years ago

Yes, actually, I believe there will be a ROS2 port within the next couple of months. You can watch this repo for news about that. Thanks, I'm glad to hear about your interest!

zultron commented 3 years ago

I'll actually leave this issue open, since there's no other issue tracking the upcoming ROS2 port.

zultron commented 2 years ago

Development has started on the ROS2 port. I'm shooting for a first version before January.

zultron commented 2 years ago

Tormach sponsored this work, so the repo has been moved to their org.

Initial non-working ROS2 PR will be submitted later today.

zultron commented 2 years ago

Repo at https://github.com/tormach/hal_ros_control

First PR at https://github.com/tormach/hal_ros_control/pull/6

First working version targeted for Jan. 2022!

From: Michael Brown @.***> Sent: Monday, December 20, 2021 9:47 AM To: tormach/hal_ros_control Cc: John Morris; Mention Subject: Re: [tormach/hal_ros_control] Any plans for hal_ros2_control? (Issue #4)

@zultronhttps://github.com/zultron can you provide a link ?

— Reply to this email directly, view it on GitHubhttps://github.com/tormach/hal_ros_control/issues/4#issuecomment-998043478, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AAOZ2AAD6K3YC7C73TZ33O3UR5FZJANCNFSM5GYF3OOQ. Triage notifications on the go with GitHub Mobile for iOShttps://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Androidhttps://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub. You are receiving this because you were mentioned.Message ID: @.***>

zultron commented 2 years ago

The ROS2 port is now working in tests; see PR #10 (which includes everything from #7, #8, #9). It still has a few issues, esp. shutdown isn't working properly and it hasn't been tested on real hardware. But it's a start! Testers are very welcome.

zultron commented 2 years ago

As of PR #15, I consider this work substantially complete. I'm closing out this issue.