Closed clalancette closed 4 years ago
I ended up doing some work here to make the parameters configurable on-the-fly, fixing up any threading issues, and porting the launchfiles to ROS 2. @stonier I think this is good to go now, so feel free to merge at your convenience.
You know, might have been nice for the history to get the original code in, then the changes so we can do a diff across commits. Let's talk about that tomorrow, we can probably still easily achieve that.
You know, might have been nice for the history to get the original code in, then the changes so we can do a diff across commits. Let's talk about that tomorrow, we can probably still easily achieve that.
The commit history is actually setup like that here. Commit 76f068fd826713de23436bd9d3f34e31cfcdb5df is a direct copy of the original code, and then the follow-on commits actually do the port.
That all being said, after looking at this package, I'm almost thinking we should make it a separate package. The functionality is really pretty generic, and not tied to kobuki at all, so we could easily do that.
Aye, I had those two thoughts (interactively rebase these commits & wish for a separate package) as I hit the hay last night but couldn't be bothered to immediately get back to the desk and post them!
Next steps:
Closing in favor of https://github.com/kobuki-base/velocity_smoother/pull/1
A port of the velocity smoother to ROS 2. A few limitations:
This PR also adds empty COLCON_IGNORE files for all of the pieces that don't yet compile against ROS 2.