Eloquent dev

[jginesclavero]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Ticket #48
Primary OS tested on	Ubuntu 18.04 ROS2 Eloquent
Robotic platform tested on	Gazebo simulation of Tutlebot3

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Description of contribution in a few bullet points

• I migrated pedsim_ros package to ROS2 eloquent.
• Agents positions are published as a new frame in the TF tree now, pedsim_tf2 package.
• I changed pedsim_visualizer to publish spencer_messages instead of pedsim_msgs because spencer_tracking_rviz_plugin in ROS2 needs that the publisher and the subscription have the same msg type.
• I have changed pedsim_visualizer to walls are only published once.
• I have added two parameters in pedsim_visualizer, frame_id and walls_resolution. Using walls_resolution you can create more accurate scenarios, it is especially useful for home or industrial scenarios.
• I have updated .gitmodules file to point to my spencer forks working on ROS2. I will do the PR in the spencer repos ASAP.

Future work that may be required in bullet points

• It is necessary to migrate all launchers.
• Support the dynamic reconfiguration.
• Update the .gitmodules files to point the original repos in an eloquent branch.

[tlind]

Hi and thanks for the big pull request! I haven't worked with ROS2 yet, so I am curious why you changed the header file extensions (e.g. in pedsim_simulator) from .h to .hpp. Is there a technical requirement in ROS2 / ament that mandates that?

[jginesclavero]

Hi @tlind!
It is a general guideline established by the OSRF and the ROS2 contributors, following the C++ style (.hpp and .cpp) instead of C style (.h and .c). You can check it in the migration guides, for example in the migration guide for rviz to rviz2.