ROS2 Migration

[amock]

This repository needs to be migrated to ROS2. I expect to have time for this starting in April/May. If anyone gets to it sooner, please comment here to avoid duplicate efforts.

[amock]

I've pushed the first attempt at migrating this to ROS 2 to the humble branch. In theory, it should work similarly to the ROS 1 version. However, we still need to verify this, and there are a few remaining ROS 2–specific issues:

1. Test a few scenarios to check whether the results match those of the ROS 1 version.
2. A slow TF rate between the map and odom frames causes delayed or missing point cloud rendering in RViz (when using the map frame). How can we fix this?
3. Rendering the TSDF map in RViz2 consumes a lot of GPU resources. Check whether this was also the case in the ROS 1 version.
4. Run more tests.

Once these issues are resolved, we can begin duplicating the branch for Jazzy, as it also compiles and runs there without changes. We can also add more example configurations at that point.

[ndming]

Hi, thank you for initiating the migration to ROS2. May I ask what is the current status of this, and is there any other issue I should be aware of, I could provide some help.

[amock]

Hi @ndming ,

The current state is still the same as I summarized on April 12. So the most things are done. I would like if we somehow could verify, if the ROS 2 version really produces the same results than the ROS 1 version. Another option would be to add a note to the readme that the results of the paper should be better reproduced with the ROS 1 branch.

Apart from that, the example/demo is running. So it's a state which you can work with / optimize from.