Au core/migration #1
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Almost all the changes were just changing function names to their ros2 equivalent ie using "rclcpp" instead of "ros" for the library name. node handlers are different in ros2 but it's pretty self explanatory. A good example is what I changed in camera_info.cpp and camera_info.hpp. ros2 requires cpp headers to be explicitly defined so i changed names from x.h to x.hpp. Message naming convention is also different in that underscores are not allowed so all messages and values within were changed to camel case which is the ros2 standard. Some functions are different such as spinOnce. An example of the new method can be found in camera_info.cpp in waitForMessage(). Changes were made to CMakeLists and package.xml as explained in https://index.ros.org/doc/ros2/Contributing/Migration-Guide/ |
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| #include <vision_util.hpp> | |||
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Is there a reason this is alone in this folder?
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Can we add a proper README.md for how to install ROS2 and execute the build? Or ideally a setup.sh + config.sh? I'll add some notes here as I go, for what I have to do to get the build working. |
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| #rosidl_generate_interfaces( |
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We shouldn't have dead code like this. If it's not necessary, it should be removed.
| <exec_depend>rosidl_default_runtime</exec_depend> | ||
| <!-- <member_of_group>rosidl_interface_packages</member_of_group> --> | ||
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| <!-- <build_depend>roscpp</build_depend> |
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More dead code here to be removed
au_core ros2 version