[ros2] Port joint pose trajectory to ROS2

[shiveshkhaitan]

Port gazebo_ros_joint_pose_trajectory plugin to ROS2.

Example:

<plugin name="gazebo_ros_joint_pose_trajectory" filename="libgazebo_ros_joint_pose_trajectory.so">
  <ros>
    <namespace>/demo</namespace>
    <argument>set_joint_trajectory:=set_trajectory_demo</argument>
  </ros>
  <update_rate>2</update_rate>
</plugin>

Migration guide at ROS 2 Migration: Joint Pose Trajectory

[JaehyunShim]

Hi @shiveshkhaitan @chapulina

I tried to build source packages from this PR but it didn't work (In more detail, my laptop froze while building the packages) Could I ask when this PR will be tested and released?

Thank you in advance,
Ryan

[chapulina]

Could I ask when this PR will be tested and released?

@rjshim , we're currently working on several pull requests for ROS 2. This one should be reviewed and merged in the coming weeks, and released in a Dashing sync after that.

If you need help building from source, you can ask for help at http://answers.gazebosim.org/ .

[JaehyunShim]

@chapulina
Thank you for the prompt response.

@shiveshkhaitan
Can I ask if it has been also tested in different development environments? I am asking this as the problem is occurring specifically while building the gazebo-plugin package,

Any advice will be appreciated!
Ryan

[chapulina]

Can I ask if it has been also tested in different development environments?

We're mainly developing and running CI on Ubuntu Bionic, using both source builds and debian packages for the rest of ROS2. There are also users on OSX.

the problem is occurring specifically while building the gazebo-plugin package

The screenshot you provided doesn't show any problems. Are you having problems with this branch specifically or do you also have trouble building the dashing branch? If the problem is not this branch, I ask you to move this discussion to a more appropriate place:

• If you found a specific bug in gazebo_plugins, please ticket a new issue on this repository with the exact issue.
• If you're having trouble getting a local workspace setup, please ask a question at http://answers.gazebosim.org/ .

In either case, it will be easier to help you if you provide information about your setup, what steps you've followed and what you've already tried to fix the issue. Have you checked your logs under your workspace's log folder for the exact errors you're having? Copy-pasting the error into the issue / question is better than screenshots because others can search through it.

[JaehyunShim]

@chapulina

Thank you very much for the advice. I don't know the reason for the problem but I reinstalled Ubuntu and ROS and now building the packages succeeded. But it still often freezes when building that plugin package so I will take more time to figure out a solution for it and ask this question at the link you attached.

Thank you,
Ryan

[chapulina]

@osrf-jenkins run tests please

[chapulina]

Works for me! There are some things which could be improved on the logic, but I think that goes beyond the scope of this PR, so we don't need to address that now.

Ready to merge once we have tests for the new convert functions. Thanks!

[chapulina]

I rebased with dashing and it looks good to me. Will merge when CI comes back happy. 👍