Port tianracer_core to ROS2 #4
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Modify the code structure of core
due to the name conflict of rplidar's serial port
code cleanup
| rclcpp::Publisher<geometry_msgs::msg::Pose2D>::SharedPtr uwb_pub_; | ||
| rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_pub_; | ||
| rclcpp::Subscription<ackermann_msgs::msg::AckermannDrive>::SharedPtr ackermann_sub_; | ||
| std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_; |
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oh, I suddenly find this tf_broadcaster_ can be removed since there is no tf to be published 😅
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The tf_broadcaster can be kept. Later we can fusion imu and encoder in tianracer_core.
| # Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified. | ||
| publish_tf: true | ||
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| predict_to_curent_time: true |
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The original repo has a typo.
This param should be predict_to_current_time
| false, false, true, | ||
| false, false, false, | ||
| false, false, false, | ||
| false, false, false,] |
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The teleop ackman repo changes cmd_vel twist msg to ackermann_drive msg.
Racecar is not suitable for a keyboard teleop but only for joystick.
A better way is to map the joystick axes to steering and throttle respectively in ackerman_drive_msgs.
Let's leave this to the next PR.
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I mean this may not be a proper way to teleop the racecar. Could you please take a look at https://github.com/tianbot/tianracer/blob/master/tianracer_teleop/script/tianracer_joy.py |
OK. Do we need to delete the teleop ackman repo later that I've created? |
#3 This PR is a port of tianracer_core to ROS 2.
Although the code can run normally, there is still a problem. After starting the launch file, the log in
serial.cppwill not be printedBTW, cmd_vel_to_ackermann_drive.py is separated from package navigation, because I don’t know of any way to write both C++ nodes and python nodes in one package in ROS2.
This separation may also be inappropriate. We can readjust this file structure.