ROS 2 Sunday Zoom Link & IMU ROS1 Nodelet To ROS 2 project

[Charles de Montaigu]

Hi yall,

I mentioned to Camp today during the Sunday ROS 2 meet-up (Info Link below) how quick he with the help of Ralph Gnauck and Michael Wimble were  able in a couple of weekly iterations put together a first cut ROS 2 ultrasonic package (Range sensor msg) .

I also mentioned to him that I might have the next sensor in needs of that ROS 1 to ROS 2 code base upgrade group effort.

The WT901C IMU from WitMotion ( I have the TTL version ...). The question I was asked: Where is the ROS 2 driver/node package ? a few weeks ago.

https://www.amazon.com/High-Precision-Accelerometer-Magnetometer-Triple-Axis-Inclinometer/dp/B01N03WKDV/ref=sr_1_3?keywords=witmotion+wt901c+ttl&qid=1638142984&sr=8-3

I also have CP2102 6 in 1 Serial adapter USB module

after some research I could not find a ROS 2 Driver/Node and that only Adafruit BNO055 has some ROS 2 code available.

... Here are a few links I have found useful

ROS 1 Wiki

http://wiki.ros.org/wit_node

Here is the link to the ROS 1 source code (ROS 1 C++ Nodelet ...)

https://github.com/yowlings/wit_node

So ROS 2 does away with the ROS 1 2 API (Node & Nodelet) and consolidate to a single API (Node).

What is a Nodelet

https://answers.ros.org/question/230972/what-is-a-nodelet/

As per this link below on ROS 2 & Composition, it appears the standard conversion path of a ROS 1 Nodelet is ROS 2 Component (C++ Only ?)

https://docs.ros.org/en/galactic/Concepts/About-Composition.html

ROS 2 Tutorial - Composition - Component (Shared Pointer )

https://docs.ros.org/en/galactic/Tutorials/Composition.html

Apex.Ai - 5c of System Composition and Velodyne LiDAR ROS 1 to ROS 2 upgrade Blog post

https://www.apex.ai/post/porting-algorithms-from-ros-1-to-ros-2

Hopefully I peeked some interest & your guidance...

Thanks & See you this Tuesday and/or to the Sunday weekly ROS2 - Nav2 discussion & code walk thru sessions

Meetup Sunday 1:30pm CT

https://www.meetup.com/ai-ml-for-robotics-and-iot/

Zoom

Topic: ROS 2 and Autonomous Platforms

https://us06web.zoom.us/j/81547370512?pwd=ZDhpUmF0Wk9mem12bTQ4YWpIVlR5UT09

Meeting ID: 815 4737 0512
Passcode: 585148
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Charles