ROS 2 Foxy update #16
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Lidar possible to be used now
Foxy control
* test commit * Add cartographer * Add cartographer * adding slam toolbox * remove slam toolbox and add cartographer * updating parameters * Updating parameters * add nav2 * update nav params * updating parameters * update params * updating params * updating params * nav working and only finetuning left * Updating params * updating parameters for cartographer * added velodyne_description to depend * added use_sim_time * added control_yaml configuration Co-authored-by: Live session user <[email protected]>
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@tonybaltovski have you had time to look at this yet? |
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Hi @tonybaltovski, as @joe28965 left our team (Saxion Mechatronics) I'm curious of the review status of this PR? |
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This is the update for ROS 2 Foxy, as we've currently got it working at Saxion.
This is 1 of 5 PRs that all contribute to this. The other 4 are:
dingo_desktop
dingo_robot
dingo_simulator
puma_motor_driver
We've got the Dingo-D driving around in ROS 2 Foxy, with the PS4 controller.
All the config files for the Dingo-D have been updated.
However, we received the Dingo-D for our project, not the Dingo-O.
Updating the code for the Dingo-O was outside of the scope of our project.
In the launch files, there will still be a reference to Dingo-O (as seen here, for instance), so some of them should work without changes.
That being said, things like: config files, specific Dingo-O urdf files, the simulation, ros2_control mecanum drive still needs to be updated.
The puma_motor_drivers and dingo_hardware library have also only been tested with the Dingo-D, but I did try to ensure they could potentially work on the Dingo-O without changes (this of course needs to be tested).
If you've got any other questions regarding the status of various parts, please let me know.