ROS2 HUMBLE Migration

[sujit-168]

@xuankuzcr Dr. Zheng,

Topic Area

New Feature about #40 #55

Feature Area

This issue concerns this project's pull request for ROS2 migration (ROS2 HUMBLE).

Body

If merges into this repository are allowed, I would like to have a separate humble branch for storage without affecting the updates of the main branch.

Once again, salute your excellent work. Best wishes!

[OxygenLost]

https://github.com/Robotic-Developer-Road/rpg_vikit.git 仓库无法访问，是私有仓库吗？

[xuankuzcr]

@sujit-168 Thank you for your effort and support regarding the ROS2 Humble migration. Feel free to submit a pull request if it’s convenient for you. I’m currently occupied with other commitments and won’t be able to address this immediately, but I’ll review and process it as soon as I have the time.

Thank you for your patience, and best wishes!

[sujit-168]

@xuankuzcr I recommend creating a humble branch based on the current main branch in this repository. This would allow me to submit pull requests targeting the humble branch instead of merging directly into main. Such a workflow would help prevent unintended impacts on the ROS1-related code in the main branch.

A pull request draft is ready. Once the reference branch humble is created, I will move this pull request to the ready for review state.

[sujit-168]

https://github.com/Robotic-Developer-Road/rpg_vikit.git 仓库无法访问，是私有仓库吗？

@OxygenLost The repository in question is currently set to private, with plans to transition it to a public status in the near future.

[YanhaoZhang]

Hi @sujit-168. I saw your video on bilibili. Really appreciate your work. I was wondering if the mitigation has been done and you would consider releasing the code?

[sujit-168]

@YanhaoZhang Thank you for watching my video on Bilibili. Are you asking about the GitHub repository rpg_vikit mentioned by OxygenLost?

[YanhaoZhang]

Hi @sujit-168. Yes. Thanks a lot! I did not know you had already released the code. Really appreciate it!

[sujit-168]

@YanhaoZhang Due to copyright risks, I am sorry that I may not make the rpg_vikit mentioned in project Readme.md public shortly, unless I get permission from the original author. Thanks for understanding about this!

[YanhaoZhang]

@sujit-168 Sorry for the late reply. Yes, I totally understand this, and I really appreciate you releasing the mitigation as well as your prompt reply.

[Divepit]

Hello all, thank you for your work! Do I understand correctly that vikit is required and none of the provided options can be built using colcon but only with catkin?

I would like to try compatibility on ROS Jazzy, Ubuntu 24.04 but I can not use anything that is based on catkin..

[sujit-168]

@Divepit Any contribution based on PR is welcome. You can share your test results and compatibility issues about this PR with ROS Jazzy on Ubuntu 24.04

[TannerGilbert]

@Divepit for me Fast-LIVO 2 runs on Humble with the forks from @james-ward after installing the newest sophus version via apt:

His forks:

• https://github.com/integralrobotics/FAST-LIVO2
• https://github.com/integralrobotics/rpg_vikit

Install Sophus

sudo apt install ros-$ROS_DISTRO-sophus

[TannerGilbert]

I opened two PRs to @james-ward's fork. One to fix builds for ROS 2 versions that are older than Iron (so including Humble) and the second one to fix the Velodyne processing similar to #53 for ROS 1.

integralrobotics#1
integralrobotics#2

If @james-ward decides to merge these PR's they would then also be included in the PR to @sujit-168's fork: Robotic-Developer-Road#1

[james-ward]

I opened two PRs to @james-ward's fork. One to fix builds for ROS 2 versions that are older than Iron (so including Humble) and the second one to fix the Velodyne processing similar to #53 for ROS 1.

integralrobotics#1 integralrobotics#2

If @james-ward decides to merge these PR's they would then also be included in the PR to @sujit-168's fork: Robotic-Developer-Road#1

Both merged. Thanks!