Ros2 Redesign
girvenavery2022 opened this issue · 1 comments
Feature request
Feature description
This feature is to add a galactic branch along with some refactoring which includes migrating over to python launch files, moving the state publishers launch files in create_description over to create_bringup, add an rviz launch file/config, and add in a simulation package called create_simulation that uses ignition gazebo(or gazebo now xD).
By doing these things, cuts down on duplicate code and simplifies running the robots for the user greatly.
Right now, I have implemented all of these changes except simulation(still working on that) on my fork:
https://github.com/girvenavery2022/create_robot/tree/galactic
if there is any concerns or something you would like to see added, let me know!
I'm not sure what advantages switching to Python launch files give us, maybe you could elaborate?
Also, the current foxy branch appears to build fine with a Galactic installation. Ideally, we could just maintain a single branch that is compatible with all ROS 2 distributions, until there is good reason to branch. If there is something not working or a specific enhancement you'd like to see, I'm happy to review a pull request 🙂