ROS2 support

[oysstu]

Hi,

Do you have any plans to migrate to or add support for ROS2?

Best regards,
Øystein

[okebkal]

Hi! Yes, we are doing some steps into this direction. We might add it by the end of Q1/2025.

[oysstu]

Do you have any update regarding your roadmap for this?

For us it would be acceptable to simply have a parser class that could be used without ROS2 (or even ASIO) to parse the incoming TCP/Serial stream. The complex part for us is not the ROS2 integration or the network programming, but robust parsing of the DMAC protocol. This is largely due to the many ways in which asynchronous data return from the modem is interleaved with stateless replies to input commands (e.g, a line with simply a number or OK).

[oysstu]

Just wanted to let you know that I've had to refactor our current driver, and am not considering using this anymore.

[tonioteran]

@oysstu we also were looking into using this with ROS2, so we made a fork and have it running now in case it's any use to you: https://github.com/tonioteran/dmac2

it's a bit rough (some ros::param parsing code from ROS1 is still commented out), but we've successfully field tested with it