Comments (6)
So, it looks dashing has version 1.0 released into it - the node has been renamed to "urg_node_driver". I've opened a PR to fix the documentation: #70
It should be noted that the node still doesn't run because of #66 - see my patch there (I haven't opened a PR yet for that one, cause I'm not sure it's the "right" fix).
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See also #71 - which should fix the run() issue in #66
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Fixed in version 1.0.1:
- dashing release: ros/rosdistro#25411
- eloquent release: ros/rosdistro#25412
- foxy release: blocked by urg_node_msgs (ros/rosdistro#25409) and laser_proc (ros-perception/laser_proc#11)
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I tried to make an executable node that executes UrgNode.run().
The node publish /scan
topic successfully.
Source code of the executable node (urg_node_executable.cpp)
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "urg_node/urg_node.hpp"
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::executors::SingleThreadedExecutor exec;
rclcpp::NodeOptions options;
auto urg_node = std::make_shared<urg_node::UrgNode>(options);
urg_node->run();
exec.add_node(urg_node);
exec.spin();
rclcpp::shutdown();
}
New lines of the CMakeLists.txt
add_executable(urg_node_executable src/urg_node_executable.cpp)
target_link_libraries(urg_node_executable urg_node)
ament_target_dependencies(urg_node_executable
rclcpp)
install(TARGETS urg_node_executable
DESTINATION lib/${PROJECT_NAME}
)
( Actually, I wanted to change names urg_node
to urg_node_component
, urg_node_executable
to urg_node
.)
To reproduce:
- Run
ros2 run urg_node urg_node_executable __params:=$HOME/ros2_ws/src/urg_node/launch/urg_node_serial.yaml
- Run
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"
- Run
rviz2
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1.0.1 released to foxy: ros/rosdistro#25425
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@mikeferguson thank you for fixing and updating the package!
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