ros2 #118
Open
ros2 #118
+11,603
−7,444
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Convert packages to ament_cmake/colcon, port messages/services and ROS interfaces/examples. Vendor plane segmentation deps, add Jazzy install instructions + Dockerfile, and ignore unported ocs2_mpcnet/ocs2_raisim.
Explicitly clone the main branch to avoid stale cached catkin version during docker builds.
Clone ocs2_robotic_assets from its ros2 branch in docs and Docker to avoid catkin-only upstream.
- Sync/verify MRT reset service call - Restore ROS1 latch semantics via transient_local QoS - Fix ROS2 node-local parameter usage - Use writable /tmp defaults for auto_generated libs (override via libFolder) - Remove hard gnome-terminal launch prefixes (terminal_prefix arg) - Fix/relax flaky tests + raise timeouts for heavy debug tests - Update docs + docker + GH Actions for Pinocchio robotpkg
- Add rclcpp::init/shutdown to ballbotIntegrationTest (required for ROS2) - Document resetMpcNode() must be called before node spins (deadlock risk) - Remove redundant prefix="" from launch file - Remove commented-out executor code
Pinocchio frame Jacobians are 6 x nv; allocating with nq breaks when nq!=nv (e.g. free-flyer or composite joints).\n\nUse model.nv consistently and add a regression test with nq!=nv.
Contributor
Author
|
We keep the PR open so CI, run on future updates of the branch |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Overview
This PR ports the OCS2 ROS stack + robotic examples to ROS 2 Jazzy.
Notable changes
transient_local).referenceFile)./tmp/ocs2_*_auto_generated) instead of install/share which is read only after building. Override via thelibFolder/autodiffLibraryFolderparameters if you want a persistent cache.gnome-terminalprefixes; useterminal_prefixlaunch args when desired.Tooling / CI
docker/Dockerfile.jazzy) with Pinocchio via OpenRobots robotpkg..github/workflows/ros-build-test.yml):colcon testocs2_ros_interfacesto keep runtime/disk within GitHub runner limitsTests
All tests run successfully in a Jazzy docker environment:
colcon testsummary579 tests, 0 errors, 0 failurescolcon testsummary572 tests, 0 errors, 0 failuresExample smoke test
ros2 launch ocs2_ballbot_ros ballbot_mpc_mrt.launch.py rviz:=true