Port to ROS2

[chargerKong]

We've made a part port of tianracer to ROS2 which can be simply run in my tianracer(maybe compact).
The packages involved in ROS2 port up to now are

• tianracer_core
• tianracer_bringup
• tianracer_description
• tianracer_slam

There must be some parts of it that could use a cleanup, as they work around problems that may or may not still exist.

This code has been used in a few different robotics, so we know that at least the major parts of it work. And the code doesn't apply to master. If possible, we can open a new branch (maybe dashing) and I can submit a PR to improve this work

[chargerKong]

I think We can start reviewing part by part

[tianb03]

Thanks Kong.
You can submit a new pull request to dashing-devel
We can start to review the code regularly.

[chargerKong]

We suspended the portion of tianracer on ROS2 dashing

In fact, dashing is too old and its ecological is not good.

Some packages do not support dashing, such as laser_filters (but we modified their foxy code to dashing), and some packages' dashing code is unstable, especially for navigation2. They are not maintaining Dashing anymore and they said that there must be more quirky bugs see here.

I think it is very detrimental to our familiarity with the project and development. I highly recommend upgrading the system to galactic or foxy

@tianb03 What do you think?

[tianb03]

Currently, Jetson Nano does not support 20.04 officially though Ubuntu for Arm has supported it already. Ubuntu 18.04 can use foxy through source code compilation. I think upgrading Nano to 20.04 will be more preferable. We will try to make an image release for Tianracer asap, but it still will take some time.

[chargerKong]

Hi @tianb03.
We've replaced Jetson Nano with Raspberry that could support 20.04 officially and installed galactic

It would be better for us to discuss it in a new branch (galactic-devel).

Note: please create this branch based on master branch, not on dashing-devel

[tianb03]

Hi @tianb03. We've replaced Jetson Nano with Raspberry that could support 20.04 officially and installed galactic

It would be better for us to discuss it in a new branch (galactic-devel).

Note: please create this branch based on master branch, not on dashing-devel

Hi @chargerKong Liangqian, we just revived from the lockdown.. I have created the galactic-devel branch. If the dashing-devel is not maintained anymore I will delete this branch

[chargerKong]

OK. dashing-devel will not be maintained anymore