mnaveau ubuntu20.04 ros2

[MaximilienNaveau]

Description

Implement the ROS2 interface for the SoT.

How did I testes?

Ran the unit-test on my laptop and on the github actions

[MaximilienNaveau]

@nim65s

1/ could you checkout the gitlab CI to add ROS2? I naively think that the problem comes from the fact that ament (ROS2 equivalent of catkin cmake modules) is not found.

2/ Should we keep the gitlab CI at all, as the github actions covers the unit-tests?
Is there something special that the gitlab does? like the doc, or other uploads?

[olivier-stasse]

@nim65s

1/ could you checkout the gitlab CI to add ROS2? I naively think that the problem comes from the fact that ament (ROS2 equivalent of catkin cmake modules) is not found.

2/ Should we keep the gitlab CI at all, as the github actions covers the unit-tests? Is there something special that the gitlab does? like the doc, or other uploads?

Dear @MaximilienNaveau thanks for the PR.
I would go for the second solution. The first one implies that ROS-2 should be present in robotpkg.
If we want to move on, let us drop this.

I will review your PR such that we can move on with it.

[olivier-stasse]

Dear @MaximilienNaveau thanks again for this huge PR.
I think that the work you have done on the publishing/subscribe part is very complementary with what I have done.

As for my feedback here is some general comments:

• Could you apply a clang-format file similar to the one use by gitlab-ci ? They are places with 4 spaces and other with 2 spaces. We use to have a 2 spaces tabulation. You can also use the clang file from dynamic-graph (https://github.com/stack-of-tasks/dynamic-graph/blob/master/.clang-format). The latter has a 80 columns limit to be user friendly when being on the robot. I prefer to avoid line being too long, they are a pain to read, but 80 is a bit too stringent.
• We should write more unit-tests and documentation.
• All those remarks needs a lot of work, I would in favor of merging the PR and fix with commits later on.
• i would suggest that we try the github actions from ROS-2

Again thanks a lot for the work !

[olivier-stasse]

Huge work.
Thanks a lot !

[olivier-stasse]

And after rethinking over it I would remove dgb-ros1.cmake and dbg-ros2.cmake.
Keeping the compatibility with ROS-1 seems to be too much and will clutter the repo.