Comments (16)
Hi there. I just tried the porting-ros2 branch on Ubuntu22/ros2 humble, and I met an error when I build the pf_driver. The error is no matching function for call to ‘rclcpp::Duration::Duration(double)’. I have already installed the rosdep before building the source code.
Does anybody have met the same problem like it?
Thanks for testing it on Humble. The driver has been tested only on foxy and galactic. I will take a look at the Humble api and make changes in the coming days.
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Thanks for the feedback.
I just pushed a basically working version on my branch. I was about to start doing some refactoring, but it seems useless if you are up to it. You can take a look at it if needed on some points.
I have been struggling about the deserialization of the header, since it is a bit more complicated (impossible ?) with ROS2, so I did a quick-and-dirty implementation. I'm curious to see how you will handle it :)
Of course I would be happy to test your implementation if you need to, however I only have R2000 LIDARs.
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@PGotzmann thanks for your interest. There was a small change (mentioned below) required for humble. The initial test looks good on Humble.
This week we fixed few bugs related to setting (changing) parameters at runtime. Next week we have planned an extensive test for Foxy, Galactic and Humble.
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Hello,
we will start the work on the ROS2 driver in the next week. A first version should be available by the end of this month.
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I am guessing this is the branch: https://github.com/wawanbreton/pf_lidar_ros_driver/tree/porting-ros2
Thanks for the initial work! I have created a PR here: #82
I will push more commits to it
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Ok, nice ! I think it requires some refactoring : I had to reorganize the initialization as in ROS2 you can't read the parameters before the node is created, so I did things that are not very clean. It works for me yet so I can use my LIDAR, but feel free to break what I did !
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sure :) Porting of the package.xml
and CMakeLists.txt
is already good contribution.
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#82 has been closed and the work is being continued on #83.
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Is there a time schedule for ROS2 support? Thanks.
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ROS2 支持有时间表吗?谢谢。
Can you use the porting ROS2 version normally? We urgently need the ROS2 version driver
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Hi there. I just tried the porting-ros2 branch on Ubuntu22/ros2 humble, and I met an error when I build the pf_driver. The error is no matching function for call to ‘rclcpp::Duration::Duration(double)’. I have already installed the rosdep before building the source code.
Does anybody have met the same problem like it?
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ROS2 支持有时间表吗?谢谢。
Can you use the porting ROS2 version normally? We urgently need the ROS2 version driver
Most of the features are working. There are couple of more bugs to be fixed, which I will do next week.
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ROS2 支持有时间表吗?谢谢。
Can you use the porting ROS2 version normally? We urgently need the ROS2 version driver
It can already be run on ROS2 foxy version.
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Thanks for porting this to ROS2. Really looking forward to this release.
Since both foxy and galactic are already end of life for quiet some time now I still need to ask if you are also planing to release this on Humble and if so when we can expect such a release.
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@andrewTianxiaolu said:
Hi there. I just tried the porting-ros2 branch on Ubuntu22/ros2 humble, and I met an error when I build the pf_driver. The error is no matching function for call to ‘rclcpp::Duration::Duration(double)’. I have already installed the rosdep before building the source code.
Does anybody have met the same problem like it?
46ca683 should fix the error.
Another "fix" that might be needed is mentioned here: open-source-parsers/jsoncpp#1356
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As mentioned in #83 (comment), the ROS 2 version for foxy, galactic, humble and iron has been moved to a new repo: https://github.com/PepperlFuchs/pf_lidar_ros2_driver. The initial testing is done. Please test the driver and create issues in the new repo.
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Related Issues (20)
- unable to locate: pf_driver/PFDriverR2000Config.h and pf_driver/PFDriverR2300Config.h HOT 2
- /scan topic is published at 360+ hz HOT 3
- boost error HOT 14
- Impossible to terminate ros_main node cleanly. HOT 2
- protocol error: 120 Invalid handle or no handle provided HOT 13
- transplant to ros2 HOT 2
- which branch to use HOT 1
- still the transport:
- about the cpu HOT 6
- wrong or missiong data under high load HOT 3
- Unable to communicate with device HOT 5
- Qos HOT 2
- Segfault running the latest ROS2 driver HOT 15
- Restarting the node several times starts causing persistent protocol error HOT 8
- Connection failure is not handled in the case of empty http_error HOT 17
- Persistent protocol errors, probably not terminated socket HOT 1
- UDP bind error: Address family not supported by protocol HOT 16
- driver params HOT 1
- the time stamp of r2000
- UDP port not used - connection with firewall not possible HOT 5
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