ROS2 port

[malban]

@130s

I'm working on a ROS2 port of the laser_scan_matcher package that I would like to get pulled into this repo, if possible, and setup for releasing:

• https://github.com/malban/scan_tools/tree/ros2

In addition to porting to ROS2, this version also:

• fixes covariance calculation to capture the correct values and rotate them correctly into the odom frame
• adds optional covariance augmentation based on detecting if there is a degenerate axis in the match, such as down a featureless hallway
• removes velocity inputs and replaces them with a tf subscription for pose prediction. It's assumed that a proper state estimator like robot_localization can be used to convert velocities into a predicted pose.
• enables dynamic reconfiguration for most parameters

Related:

• Configure CMakeLists.txt to install files in a ROS compatible way. AndreaCensi/csm#34

[130s]

Sounds good to me.

Changes you're proposing sounds like technically there are 2 different kinds: ROS2 porting, and fix/improvement. The latter can go to ROS1 branches. It'd ideally if you could split PRs, but that's up to you. At minimum, would you please make sure commits are separate for those 2 types of changes (so that others may easily cherry-pick if they want to)?

[malban]

Probably easiest for me to just create some backport PRs for ros1.

1. fixes to covariance
2. new degenerate axis covariance feature
3. option to use tf for prediction instead of velocity messages
   • I don't want to remove the velocity message inputs for ros1 since it might break existing configurations

The dynamic reconfiguration for parameters is handled completely differently in ros2, so I'm probably not going to make a PR for a ros1 backport, but anyone that is interested can make such a PR.

[malban]

@130s I created PRs to the ros1 branch to:

• address the covariance issue: Fix covariance calculations #78
• address the incorrect predictions and add tf as a prediction input: Refactor and correct prediction code and transforms. #79

[prasun2712]

@malban I am not able to build the scan matcher package for ROS2 (https://github.com/malban/scan_tools/tree/ros2), looks like csm related error. It is not able to locate csm package, even though I have built the ROS2 csm package. Can you suggest on what might be the issue?