Port Repo to ROS2 Galactic

[wmmc88]

Transition Repo to Ros2 Foxy.

A couple things need to happen before we can do this:

1. We need to bringup the new xaviers. I think it'll be a good idea to create a new repo to save our configurations
   • [x] Update Xaviers using latest jetpack
   • [ ] Configure, compile, flash prempt_rt patch
   • [ ] ~Setup Ros Noetic in Docker since Jetpack is still on Bionic(https://discourse.ros.org/t/ros-and-ros2-containers-and-updated-dl-packages-for-nvidia-jetson/16191 & http://wiki.ros.org/docker/Tutorials/Docker)~
   • [x] Setup Ros2 Foxy on the Jetson
2. Get ar_track_alvar working in Ros2 Foxy. there was progress here to get it to noetic but its not merged in and released. I also had some modifications i had to make locally to get it to use a different version of opencv so that we have CUDA acceleration. easiest thing would probably be just fork off of https://github.com/machinekoder/ar_track_alvar/tree/noetic-devel for now and add our own modifications.
   • [ ] Get ar_track_alvar working with CUDA acceleration on L4T
3. Get zed_ros_wrapper working nicely in foxy. This might be tricky. Easiest route might be looking at what they've done in their docker releases and try to mimic that in a ros2 foxy container. keep in mind they have specific sdk releases for L4T(jetsons)
   • [x] Get zed_ros_wrapper working in foxy on L4T

[younesr1]

@wmmc88 should this issue be renamed?

[wmmc88]

@younesr1 yup! thanks for catching!

@niiquaye leading effort to port to ROS2 Foxy. Will be making prs into https://github.com/uwrobotics/uwrt_mars_rover/tree/ros2 and then once its minimally working, we'll merge ros2 into master.

[niiquaye]

@wmmc88 quick question for the ar tracker alvar package make a fork of the noetic and port it to ros2 essentially. Also, I thought we could just use the zed2_ros_wrapper that supports ros2 already.

[wmmc88]

@wmmc88 quick question for the ar tracker alvar package make a fork of the noetic and port it to ros2 essentially. Also, I thought we could just use the zed2_ros_wrapper that supports ros2 already.

Yes, unless someone has done some ros2 work on it already

Yeah. Looks like theres a beta branch for foxy but has some issues. Someone needs to test that out once we buy a zed2

[wmmc88]

https://github.com/stereolabs/zed-ros2-wrapper is now available