Port to ROS 2

[Ryanf55]

I'd like to use this in ROS 2 to support the SmartRTL feature in ArduPilot. Please assign me this issue, and I'll issue a PR for the port to ROS 2 as soon as it's ready.

Since grid_map already has ROS 2 support, nothing is blocking this work.

In scope:

• Replace catkin with colcon
• Update roscpp with rclcpp
• Update README for ROS 2 usage
• Modernize CMake for CMake 3.12 features
• Remove compile warnings/errors that show up in GCC11 (Ubuntu 22)
• Works on Humble

Later:

• Releasing binaries to the ROS build farm with bloom
• CI

[Ryanf55]

Hello,

Can you share where I can find the following two files?

• resources/sertig.tif
• resources/sertig_color.tif

They are specified in the launch file, but do not appear to be tracked in the repo. Once I have these, I can test my port.

Many thanks!

[Jaeyoung-Lim]

@Ryanf55 Sorry that it seems that we have been doing redundant work.
This package has already been ported into ROS2: https://github.com/Jaeyoung-Lim/grid_map_geo2

With the tif files, this should work with any files with geotiff format. I would need to review the license of the geotiff files before releasing them in public. I will invite you to the repository just in case.

[Ryanf55]

@Ryanf55 Sorry that it seems that we have been doing redundant work. This package has already been ported into ROS2: https://github.com/Jaeyoung-Lim/grid_map_geo2

With the tif files, this should work with any files with geotiff format. I would need to review the license of the geotiff files before releasing them in public. I will invite you to the repository just in case.

Ah, thanks for the heads up. I do have the port done, and it looks like there's a few things different. I'll put it up here, and we can decide if anything is worth patching to the other repo.

If those specific files are not public, I'm happy to locate an alternative and submit a PR to the repo.

[srmainwaring]

Largely completed by #24, #26, #27.

The remaining tasks concerning CI and packaging for ROS 2 release could be moved to independent follow up issues?