ros2

[AnthonyZJiang]

update to ros2

[jak330]

Hi, do you mind giving a short installation guide for your ros2 PR?

Do I still need to clone the ouster_examples repository because the ouster drivers are now in the ouster-ros repository?

How do I use your PR with the Jackal? Clearpath introduced with ros2 the robot.yaml. Do I have to add this to the robot.yaml as described in https://docs.clearpathrobotics.com/docs/ros/config/customization? If yes, what is the "project_bringup" parameter in your setup?

Can I use the normal Jackal startup command, "ros2 launch clearpath_gz simulation.launch.py"?

[AnthonyZJiang]

Hi, do you mind giving a short installation guide for your ros2 PR?

Do I still need to clone the ouster_examples repository because the ouster drivers are now in the ouster-ros repository?

How do I use your PR with the Jackal? Clearpath introduced with ros2 the robot.yaml. Do I have to add this to the robot.yaml as described in https://docs.clearpathrobotics.com/docs/ros/config/customization? If yes, what is the "project_bringup" parameter in your setup?

Can I use the normal Jackal startup command, "ros2 launch clearpath_gz simulation.launch.py"?

You need https://github.com/ouster-lidar/ouster-ros instead of ouster_example. Choose the correct branch for your ROS2 distro. You need to add the urdf in this package to your robot urdf.

I did not use this with a Jackal so I don't know about robot.yaml. Haven't tried it myself but I think you may need to add the following to the file:

platform:
  extras:
    urdf:
      package: ouster_description
      path: urdf/OS1-64.urdf.xacro

[jak330]

Hi,
thanks for the reply and sorry for my late response.
Is there a reason why you delete the ouster_gazebo_plugin folder and comment out big chunks of the OS1-64.urdf.xacro file?
How do you provide Gazebo the information about the ouster lidar if you don't rely on the ouster_gazebo_plugin and OS1-64.urdf.xacro?

And lastly, how do you start the application?
So I cloned this repo (ros2 branch), ouster-ros, and built both. But how do I start it?