Ros2 humble port

[rafa-martin]

No description provided.

[fmrico]

Hi @rafa-martin!! What is the status of this port?

[gtoff]

Hi @rafa-martin, I was wondering about the same. In this summer break I wanted to port our summit to humble, and started yesterday including your PRs, but I was wondering if you had more yet uncommitted work

[fmrico]

Hi @gtoff

I am happy to see that more people are pushing this. I also use the humble-pr in https://github.com/rafa-martin/summit_xl_common.git

I got launch something:

1. gazebo -s libgazebo_ros_init.so -s libgazebo_ros_factory.so
2. ros2 launch summit_xl_gazebo spawn.launch.py
3. The gazebo freezes 😞

May I help you in your work? Probably you have more experience migrating robots in gazebo, but I am willing to help 😉

[gtoff]

Hi @fmrico

I am also happy there are more people needing this, hopefully we can get enough hands on it to push it through.
I am by no means an expert, but I got a bit further than you at the moment:

1. I can start the robot in sim: ros2 launch summit_xl_gazebo default.launch.py
2. I can send it a cmd_vel and it moves

[gtoff]

Hi again @fmrico,

while we wait a signal from Robotnik, I can tell you that I have now the nav2 / slam stack working in sim in humble for our robot. See our forks of both summit_xl_sim and simmit_xl_common: e.g. https://github.com/icclab/summit_xl_common

Mind you we use a slightly modified robot and changed the default one

[fmrico]

Hi @gtoff

Yes!! I have been using your repo since the last week, and I could make it works with Velodyne and laser: https://youtu.be/GkCaiirI8f8

Take into account this to avoid "Floating Robot effect"