Alligning with Martin Günther

[kdhansen]

It seems you are doing good work on porting these packages. I saw that @mintar (Martin Günther) is also working on a ros2 branch. He has been merging some of your commits, but have also contributed a good deal himself. Are you aware of his work, could it make sense to collaborate?

[mintar]

Yes, I am very aware of @relffok's great work on porting the mir_driver repository to ROS2. She sent me a pull request (DFKI-NI#96) two years ago, and I still have not managed to finish working on it (sorry!). I have already spent many days on it, but it's still not finished; I really hope I will get around to finishing it soon.

My current work is here: https://github.com/mintar/mir_robot/tree/ros2

... but I already have more local changes that I haven't yet pushed to that branch. My plan there is to integrate @relffok's commits and fix/add some stuff that went missing during the conversion, and afterwards port over all the work from noetic to ros2 that has been committed to noetic since the two branches diverged. The goal is to keep the ros2 and noetic branches as similar as possible, so it's easier in the future to port over changes. For example, there is no need to use the Python launch file syntax in ROS2; nowadays, there's a XML frontend for ROS2 launch files that looks very similar to the ROS1 launch file syntax. I plan to use the XML format everywhere so that future PRs to Noetic can be easily adapted to ROS2 and vice versa.

It's still a lot of work, that's why I haven't finished doing it yet.

[kdhansen]

Thanks for your work Martin!
I have forked your repo and cherrypicked most of @relffok 's commits on her branch here:

https://github.com/AAU-RoboticsAutomationGroup/mir_robot

But it sounds like you have a lot local changes and plans, so I don't know if the work in my fork can help.

[dayvsonsilva]

Hello! Thank you very much for your work on this project! I'm testing the repository that @kdhansen presented on a physical robot, I'm having some difficulties and would like to know if it's possible to enable the issuis tab in the repository AAU- RoboticsAutomationGroup/mir_robot so that doubts are concentrated in the test repository.

[kdhansen]

I'm having some difficulties and would like to know if it's possible to enable the issuis tab in the repository AAU- RoboticsAutomationGroup/mir_robot so that doubts are concentrated in the test repository.

There you go :)

[shrutic12]

Hello @kdhansen @mintar ! Have there been any new updates on the ROS2 support? Is there currently a version that can be tested with the real robot?

[mintar]

We are actively working on it! Right now, the most current version is at https://github.com/marcvinci/mir_robot/tree/humble-devel (don't be confused by the branch name humble-devel, the target distribution is ROS2 Jazzy). It's being tested on the real robot, and most things are already working.

This is only a temporary fork though! Once everything's stable, we will merge it here.

[relffok]

Hello @kdhansen, very sorry for the late reply. I am aware of @mintar's work. After all, this is a fork of his ROS1 repository. Happy to see that you could re-use some of my work! As you might have noticed, there was no further development for quite a while now. Mostly since I have no access to a MiR robot anymore.. Looking forward to seeing your final version be merged!