Velocity smoother ros2 port

yujinrobot / kobuki

Software for iClebo Kobuki

kobuki.yujinrobot.com

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Velocity smoother ros2 port #405

Closed clalancette closed 4 years ago

clalancette commented 4 years ago

A port of the velocity smoother to ROS 2. A few limitations:

Compile tested against Eloquent
Tested to launch in a simple way
Not tested as part of a full application
Launch files not ported
Tests not ported
Dynamic changing of parameters not yet supported

This PR also adds empty COLCON_IGNORE files for all of the pieces that don't yet compile against ROS 2.

clalancette commented 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.

stonier commented 4 years ago

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.

clalancette commented 4 years ago

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.

stonier commented 4 years ago

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:

I'll shift over this package as is (sans this PR) to https://github.com/kobuki-base/kobuki_ros and COLCON_IGNORE everything bar the metapackage. Then I'll release and make sure we have webhooks working so we can incrementally unignore everything with confidence.
New home for you to move the velocity smoother to at https://github.com/kobuki-base/velocity_smoother.

clalancette commented 4 years ago

Closing in favor of https://github.com/kobuki-base/velocity_smoother/pull/1