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0.14 parity #35

Merged
merged 92 commits into from
Feb 27, 2023
Merged

0.14 parity #35

merged 92 commits into from
Feb 27, 2023

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marrts
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@marrts marrts commented Dec 15, 2022

Updating to match with all Tesseract tags 0.14.0

Guilherme and others added 30 commits July 28, 2022 16:36
@marrts
Changed include paths in utils to reflect the correct paths. Replaced…
c1cbb8a 
… SimpleResourceLocator by tesseract_common::TesseractSupportResourceLocator
@marrts
Removed compile commands export from CMakeLists. Removed tesseract_co…
0588384 
…mmand_language from package.xml
@marrts
Fixed examples' results pointing to the wrong method.
d03f558
@marrts
Added resource locator for ROS using boost serialization.
418f3e5
@marrts
Ported ROS1 syntax to ROS2.
3faee12
@marrts
Added serialization export.
a2e23bf
@jdlangs @marrts
WIP: ROS2 ci
f6a0b52
@jdlangs @marrts
rosdep keys
6a2e439
@jdlangs @marrts
Update
b6675d7
@jdlangs @marrts
Install taskflow from source
3e34cad
@jdlangs @marrts
Install taskflow in via ici
8b9fdd3
@jdlangs @marrts
Run clang-format
b069218
@jdlangs @marrts
Refresh clang-format and clang-tidy workflows
2073dc8
@jdlangs @marrts
clang-format update
47ec673
@marrts
Updated dependencies' versions.
3e08183
@mpowelson @marrts
Port Tesseract_rviz
4dbc393 
This ports the TesseractState and TesseractTrajectory Widgets to work in ROS2
Clean up cmake
@jdlangs @marrts
Missing file
c02a69a
@jdlangs @marrts
WIP: massive update of ROS2 port
e8309cf
@jdlangs @marrts
Debugging environment monitor
690f334
@jdlangs @marrts
Debugging puzzle piece example
c5efe6e
@jdlangs @marrts
Working EnvironmentState display plugin
fdfe5ff
@jdlangs @marrts
Trajectory visualization plugin
1158187
@jdlangs @marrts
Working puzzle piece example with visualization
c4a9259
@marip8 @marrts
Fix console bridge dependency tag
4a8344e
@marip8 @marrts
Fix qt depend tags
1be7563
@marip8 @marrts
Remove message generation dependency
a4e04db
@collinthornton @marrts
updated package.xml of tesseract_rviz to include dependency on ros_in…
65c4285 
…dustrial_cmake_boilerplate
@marrts
Updated rosutils to use tesseract_common::Serialization and ResourceL…
65b6c8a 
…ocator
@marrts
Updated environment cache and also added ignore for now in tesseract_…
132f4cc 
…planning
@marrts
Updated tesseract monitoring to match ros1 implementation and added t…
498a149 
…hread for service clients
@rjoomen
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rjoomen commented Jan 18, 2023 •
edited
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Related to #34.

rjoomen and others added 13 commits January 19, 2023 10:56
@rjoomen
- focal workflow update and jammy humble workflow added
3666062 
- Temporary skips of Qt5 and tesseract_process_managers until all CMakeLists projects are up to date
@rjoomen
Remove unused msg and match 0.14 package config
aa0894c
@rjoomen
Update dependencies, cmake matches common_msgs
f5f0b7f
@rjoomen
Completed tesseract_ros 0.14 parity
ea55b60
@rjoomen
Removed 'lib' from plugin names for portability
5ad7ad6 
(warning from pluginlib.ClassLoader)
@rjoomen
Minor naming change
4ff1d53
@rjoomen
Last fixes to match 0.14
c863e90 
- environment_monitor_node working
- env_mon_interface updated
- current_state_mon minor updates
- environment_monitor:
    - cleaned up logger naming
    - added node executor cancel and join instead of detach
    - some updates from 0.14
@rjoomen
Removed boost pointers and some 0.14 matching
984689b
@rjoomen
Revert "Removed unused rviz plugins and tesseract plugins"
8e0d916 
This reverts commit ae118f1.
@rjoomen
- Fixed topic properties
7e9588e 
- Fixed loading of SRDF and URDF parameters
- Added internal node executors
- Added node namespacing
- Removed legacy plugins
- Cleaned up CMakeLists.txt and package.xml
- Replaced all boost pointers by std pointers
@rjoomen
Added internal executor, as spin_some is not thread safe.
d301291
@rjoomen
All examples compiling, all except 3 working
5fa9960 
- online  planning and freespace examples still crash
@rjoomen
Added resource_retriever dependency
95e439a
@rjoomen
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rjoomen commented Feb 20, 2023

I have done more work one this, see this PR. This includes a working CI configuration for Ubuntu 22.04/ROS2 Humble.

Question: which Ubuntu and ROS2 versions should be supported?

@rjoomen rjoomen mentioned this pull request Feb 20, 2023
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@marrts
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marrts commented Feb 20, 2023

Looking through your PR and hoping to test it out relatively soon, thanks!

Question: which Ubuntu and ROS2 versions should be supported?

I personally haven't done anything in Humble yet, that's why you won't see anything relating to it used at all in my PR, but I assume it would make the most sense to support Foxy and Humble for now.

@rjoomen
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rjoomen commented Feb 21, 2023

Thanks! I'll do a Focal/Foxy install here and investigate the build problems.

@marrts
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marrts commented Feb 21, 2023

If necessary we might need to do 2 separate branches. Have the main branch be built on top of Humble and then have a Foxy branch. I'm not sure of all the breaking changes between the two.

@rjoomen
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rjoomen commented Feb 22, 2023

I fixed the build for Focal/Foxy, so I don't think 2 branches are necessary.

I had to remove rclcpp::SubscriptionOptions from current_state_monitor.cpp though, as that seems to be newer functionality, but I think we can do without.

@Levi-Armstrong
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Levi-Armstrong commented Feb 26, 2023 •
edited
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@marrts It looks like @rjoomen created a PR against your branch that resolved the remaining issues.

@marrts marrts merged commit b16609c into tesseract-robotics:ros2-dev Feb 27, 2023
This was referenced Feb 28, 2023
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8 participants
@marrts @rjoomen @Levi-Armstrong @jdlangs @mpowelson @marip8 @collinthornton @smith-doug