ROS 2 Support

[Levi-Armstrong]

No description provided.

[Levi-Armstrong]

@gavanderhoorn I am interested in supporting both ROS 1 and ROS 2 but not sure what is the best/preferred approach. Is it possible to have single branch support both ROS 1 and ROS 2? Also interested in your thoughts about how best to accomplish this.

[Levi-Armstrong]

@gavanderhoorn Related to the question above. Several of the package here don't necessarily require ros and could easily be pure cmake packages. In anticipation for adding ROS 2 support is there any reason not to make them pure cmake packages and include a package.xml that allows for them to be build in a ros workspace?

[Levi-Armstrong]

I have found solution for switching ros logging. @gavanderhoorn what is your thoughts on the proposed options?

[Levi-Armstrong]

Examples of using boost log

[marip8]

@Levi-Armstrong have you considered using console_bridge? I'm not sure how it will be supported in the future or how it will interface with logging in ROS2 but I think its at least an existing solution for ROS-style logging in ROS-independent packages

[gavanderhoorn]

@marip8: I've also suggest console_bridge to @Levi-Armstrong. It's a decent suggestion: it has been packaged for ROS 2 usage apparently (ros2/console_bridge_vendor).

[Levi-Armstrong]

Looks like a good solution.

[Levi-Armstrong]

@gavanderhoorn I must have missed it when you pointed out this as a solution.

[gavanderhoorn]

I sent you an email about it on 2019-01-30.

[Levi-Armstrong]

@gavanderhoorn I found the email and thank you.

[Levi-Armstrong]

@gavanderhoorn So I have finished isolating the tesseract_collision in this branch. Currently the only catkin depends is bullet3_ros but this will eventually go away. I am open to solution on how to best release this to support both ROS1 and ROS2.

[mpowelson]

@Levi-Armstrong Can this now be closed? Tesseract_ros2