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Make ROS2 OdometryServer composable #162

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roncapat opened this issue May 18, 2023 · 4 comments · Fixed by #163
Closed

Make ROS2 OdometryServer composable #162

roncapat opened this issue May 18, 2023 · 4 comments · Fixed by #163
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@roncapat @nachovizzo

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@roncapat
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roncapat commented May 18, 2023 •
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It shall be easy to transform OdometryServer in a ROS2 component. In this way, you could provide:

  • a standalone node (as it is now)
  • a component

... at the same time.

Moreover, the component would benefit of much higher transfer rate of PointClouds messages thanks to intra-process communication.

Would you like a patch to provide this?
@nachovizzo nachovizzo self-assigned this May 19, 2023
@nachovizzo
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@roncapat Thanks for the suggestion. As I read this, I get to know about components in ROS 2. So, I'm literally blind to this topic. I'm more than willing to help review a merge request about this.

Would you be interested in doing so? If not, could you provide some pointers on where to start and what example to look in order to achieve this?

Thanks!

@roncapat
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Of course :)

@roncapat roncapat mentioned this issue May 19, 2023
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@roncapat
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If you'd like to know more about composition, a paper has been released this week :)
https://arxiv.org/abs/2305.09933

@nachovizzo
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Just saw the post yesterday on LinkedIn. Amazing works from Steve as usual

@nachovizzo nachovizzo linked a pull request May 25, 2023 that will close this issue
As ROS2 rclcpp Component [#162] #163
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nachovizzo pushed a commit that referenced this issue Jun 6, 2023
@roncapat
As ROS2 rclcpp Component [#162] (#163)
836046c 
* As rclcpp Component

* Lint

* Lint

* Fixes

* ConstSharedPtr cb

* Lint
@nachovizzo nachovizzo mentioned this issue Jun 19, 2023
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As ROS2 rclcpp Component [#162] roncapat/kiss-icp
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@roncapat @nachovizzo