Fuse -> ROS 2 Rolling Porting Progress

[methylDragon]

Description

This issue tracks the progress of the ROS 2 port for Fuse, targeting the rolling release of ROS 2.
Some of the work here will be based off the work mentioned in #257.

Architectural Decisions

I will be prioritising API consistency between the ROS 1 and ROS 2 versions of Fuse. This means I won't be looking at high level architectural changes at this time.

Approach

PRs will be sent against the rolling branch on fuse and tf2_2d, working up the dependency graph and doubling back as necessary. (Or more likely, finding features to port as I work up the dependency graph, and port them for downstream packages as well.)

Changes in dependent packages that have to be made as a result of a change in a dependency packages will be made on a best effort basis, but can't be confirmed until they're buildable, so expect bugs in those PRs.

I fully expect fuse_core to take up the bulk of the migration effort. And I also fully expect needing to circle back after things finally build and run.

Progress

General

• Logging fuse -> ROS 2 : Port Logging #279
• Resolve macro usage warnings fuse -> ROS 2: Clean up macro usage warnings #280
• Port Time:
  • fuse -> ROS 2 : Port Time #283
  • Use rclcpp::Clock::wait_until_started #303
• Port messages fuse -> ROS 2 fuse_core : Messages and Services #285 (DEFERRED to on a per-package basis)
• Linting

BONUS (if time permits)

• (Probably bonus, too many parts to shake up) Port the pluginlib usage to rclcpp_components
• "Dynamic reconfigure" for params

Down (Up?) The Dependency Tree

• fuse_msgs
  • fuse -> ROS 2 fuse_msgs : Port package and ignore unported packages for now #277
• fuse_core
  • Fuse -> ROS 2 fuse_core: Partial port of fuse_core #281
  • fuse -> ROS 2 fuse_core : Nodes and Waitables #284 (depends on fuse -> ROS 2 : Port Time #283)
  • fuse -> ROS 2 fuse_core : Parameters and Tests #286
  • fuse -> ROS 2 fuse_core: Linting #292
  • fuse -> ROS 2 fuse_core: Fix Async #293 (should be merged before the one after)
  • fuse -> ROS 2 fuse_core: Fix Async (Redux) #294
  • fuse -> ROS 2 fuse_core : Messages and Services #285
• fuse_loss:
  • fuse -> ROS 2 fuse_loss: Port fuse_loss #287
  • fuse -> ROS 2 fuse_loss: Linting #295
• fuse_variables:
  • fuse -> ROS 2 fuse_variables: Port fuse_variables #288
  • fuse -> ROS 2 fuse_variables: Linting #296
• fuse_graphs:
  • fuse -> ROS 2 fuse_graphs : Port fuse_graphs #289
  • fuse -> ROS 2 fuse_graphs: Linting #297
• fuse_constraints:
  • fuse -> ROS 2 fuse_constraints: Port fuse_constraints #290
  • fuse -> ROS 2 fuse_constraints : Linting #298
• fuse_publishers
  • fuse -> ROS 2 fuse_publishers: Port fuse_publishers #299
  • fuse -> ROS 2 fuse_publishers : Linting #305
  • Fix SerializedPublisher not being able to read it's parameters #311
  • Use getParameterName and namespace parameters for publishers #314
• tf2_2d
  • Include required header Scalar.h ros2/geometry2#559
  • Port tf2_2d to ROS 2 tf2_2d#5 (depends on above)
• fuse_models
  • fuse -> ROS 2 fuse_models: Port fuse_models #304
  • fuse -> ROS 2 fuse_models: Linting #315
• fuse_optimizers
  • fuse -> ROS 2 fuse_optimizers: Port fuse_optimizers #307
  • fuse -> ROS 2 fuse_optimizers: Linting #316
• fuse_viz
  • ROS 2 port of fuse_viz #301
  • fuse -> ROS 2 fuse_viz : Linting #306
  • Fix fuse viz crash #312
• fuse_tutorials
  • fuse -> ROS 2 fuse_tutorials: Port fuse_tutorials #309
  • fuse -> ROS 2 fuse_tutorials Linting #317
• fuse_doc
  • fuse -> ROS 2 : Doc Generation #278
• fuse: Port fuse metapackage #310
• Test fuse_viz when tutorials is done (ROS 2 port of fuse_viz #301)

Additional Notes

• I've tried to migrate away from boost as much as possible (into std), but there aren't equivalents for everything (e.g. serialization).

[methylDragon]

Fuse functionality is now ported! 🎉
@svwilliams

There's still some linting and docs porting to do

EDIT: Those are DONE!!

[sloretz]

@methylDragon Is there anything left to do before closing this ticket?

[methylDragon]

I think we're done here! Ticket closed!!