Porting to ROS2 (New PR)

[RoboticsYY]

Hi @vrabaud, this package is depended by the packages of MoveIt2. since AcutronicRobotics cannot continue to support PR#7, this PR is a following effort along AcutronicRobotics' work to port this package to ROS2. Commit history of the original PR is reserved. Any new change requests can be addressed in this PR. PR#7 can be closed.

Thanks!

[henningkayser]

@vrabaud could you give this a review?

[henningkayser]

@jonbinney tagging you because you pushed through with the Noetic release. We would like to get MoveIt 2 released for Foxy and depend on this branch to get released as well. I don't think the branch needs any fixup for this.

[jonbinney]

I looked briefly at the diff, and it looks reasonable. This would be the first time this package gets release to ros 2, right?

[henningkayser]

I looked briefly at the diff, and it looks reasonable. This would be the first time this package gets release to ros 2, right?

Yeah, right. So probably we want to bump the version so that we don't run into conflicts with bloom. With the other packages we would just start at 2.x, would that work for you?

[jonbinney]

2.x sounds good to me. I assume this PR isn't compatible with ROS1, so we'll need to merge it into a new branch for ros2, correct?

[henningkayser]

2.x sounds good to me. I assume this PR isn't compatible with ROS1, so we'll need to merge it into a new branch for ros2, correct?

Correct. Do you want to take care about bumping the version number or should I add it to this PR? Also, start with 2.0 or 2.4.2 matching the ROS1 version?

[jonbinney]

I can update the version when i do the release. I've created a "ros2" branch; @RoboticsYY or @henningkayser could one of you retarget this PR to that branch?

[henningkayser]

@jonbinney I retargeted this branch in #11. We can probably close this one and #7

[jonbinney]

Closed in favor of #11