Tuesday ROS Discussion Group, Tonight! Sept 7 @ 7pm Pacific Time

[camp .]

A weekly discussion of all things ROS. Beginner or expert if you have an interest in ROS, please join us.
 
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Thanks,

Camp

[Jim DiNunzio]

I may not attend tonight, but I have a question for the ROS experts:

I have some hardware that I prefer to try using with ROS (SlamTec Mapper M1M1 discontinued version of http://www.slamtec.com/en/Lidar/Mapper) which supports Windows and Linux ROS1 and Ubuntu 18.04 and GCC 7 and no plans are to port to Ubuntu 20.04 which I found out by contacting their tech support. I tested the hardware with its original SDK, and it definitely works with Kinetic/Ubuntu 16.04.

Three choices appear to be: 

1) Stick with ROS1 / Melodic and Ubuntu 18.04 for the whole project. Noetic apparently requires Ubuntu 20.04.

2) Go for ROS2 and port over the SLAMTEC ROS SDK (which is just built on top of a C++ API) to ROS2 (a learning opportunity!). 

But it looks like I would have to use Eloquent, which works under 18.04, but is already EOL. Foxy apparently requires 20.04. The SLAMTEC C++ SDK comes with prebuilt libraries for Ubuntu 16.04/GCC 5.4 OR Ubuntu 18.04/GCC 7 only. I spent a couple of hours trying to build it in 20.04 and hit some incompatibility errors and asked tech support.

3) Just use Windows like I did with my other SLAMTEC based project. 

WIth this hardware I am leaning toward #1 for the learning experience. #2 seems risky given Eloquent's EOL status. #3 is a backup which I already know how to use from my other SLAMTEC project.

Thanks,

Jim

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[camp .]

Tonight!

[camp .]

    #1 to get it onto ROS with Ubuntu. If I'm not mistaken, the SDK is Windows-based. I notice they say, "Fully Compatible with ROS." Nothing in robotics is easy, but this looks like the best way to move it towards where you want to be. The rule is if you've got a project that already uses ROS1... use ROS1. If it's a new project with no existing code, go for ROS2. Here you've got code that you can use. After getting it running on ROS1, look towards moving it to ROS2.

 

- Camp

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[Michael Wimble]

Porting code from ROS1 to ROS2 is generally not hard. Things are similar once you get past the requirement to change the network parameters. And I suspect that foxy and galactic will run fine under Docker, if you need to stay with 18.04. Don’t use Eloquent.

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[Jim DiNunzio]

Hi Michael,

I am not sure how that would work. To port I would have to fix up the build of my slamtec ros sdk under 18.04 against some installed Ros2 headers, but ROS2 Foxy isn’t supported on 18.04. Running stuff in a docker I assume is fine when the communications are over Ethernet.  

Jim

On Sep 8, 2021, at 10:50 AM, Michael Wimble <mwi...@gmail.com> wrote:

Porting code from ROS1 to ROS2 is generally not hard. Things are similar once you get past the requirement to change the network parameters. And I suspect that foxy and galactic will run fine under Docker, if you need to stay with 18.04. Don’t use Eloquent.

To view this discussion on the web visit https://groups.google.com/d/msgid/hbrobotics/AF04A290-8EDE-464A-ABFB-E15A4EAFD8D0%40gmail.com.

[Mohamed Fouad]

Hi everybody,

Sorry for re opening this old topic ; but I have done this port on ubuntu focal to ROS2 foxy.

The code is not cleaned but it works. If anybody is still interested I can share it.

 

[Jim DiNunzio]

Hi Mohamed,

Could you remind me exactly what you ported? I put aside my related project and am wondering if you’ve done something that would help me save time and effort when I resume working on it.

Thanks,

Jim

On Oct 22, 2021, at 8:18 AM, Mohamed Fouad <md.f...@gmail.com> wrote:

Hi everybody,

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