Release as ROS third-party package?

[mintar]

The fact that libepos2 is only available from our PPA blocks the release of volksbot_driver to debs, so we should find a way to make that library available to the ROS build farm. The recommended process is described in REP 136 (Releasing Third Party, Non catkin Packages).

Given that there is a recommended process, I guess our chances of getting our own debian package into packages.ros.org are rather slim, so should we release libepos2 using that process? The necessary steps would be:

• create a bloom release (-gbp) repository (analogous to https://github.com/ros-gbp/console_bridge-release)
• set epos2_motor_controller as the upstream repo
• add a patch to the release repo that adds a package.xml, and adds install rules to the CMakeLists.txt

There's a tutorial linked in the REP. Shouldn't be too hard, I can do it if you want. Any thoughts @jspricke @v4hn ?

[jspricke]

As we control upstream, you can simly add a package.xml in here.

[spuetz]

Hi, I had a quick look into the CMakeLists files. There is Win32 support and so on. I don't think we need that anymore, what do you think? I would like to clean up this library a bit and make it more like a ros package. What do you think?

[spuetz]

And I see some problems with the licenses. Or am I wrong?

[jspricke]

This is a fork of the IRI version and back then I tried to stay compatible. I'm happy if you maintain it, but I wouldn't drop Win32 code just because we can ;). Also, there is a debian branch which we used at KBS to install it. Back then we always had the rule to keep libraries separate from ROS and only add a small ROS layer so you could reuse it for other frame works. I would propose to keep this, but if you want to take over maintenance, I'm fine as well.

License states it's LGPL, or what do you mean?

[spuetz]

I didn't see the LGPL text. It was a bit hidden. And I think http://devel.iri.upc.edu/pub/labrobotica/drivers/epos2_motor_controller/trunk is down. I would try to clean up the code a bit.
Btw. Is there a connection to this: https://github.com/RIVeR-Lab/epos_hardware? Or is it connected to version epos1? I'm trying to get into it.

[spuetz]

Okay they simply have no redirection to https: https://devel.iri.upc.edu/pub/labrobotica/drivers/epos2_motor_controller/trunk works. But that's SVN. 👎

[jspricke]

Well, the RiVeR-Lab version is using the closed source binary library from Maxon..

[spuetz]

Okay, I would maintain this, but I wouldn't try to stay compatible with the IRI SVN version, and I would cleanup the code and the package in general a bit, if you have no problem with that. I think staying compatible has no benefit and just limits the modernization and enhancements of the code.

[jspricke]

Fine with me.

[mintar]

I would suggest keeping as many ROS dependencies out of this package as possible. Adding a package.xml is fine, but I wouldn't switch the build system to catkin or something like that. This is just a framework independent library, so it shouldn't know about ROS. But you're the maintainer now, so you decide. :)

[martimorta]

Okay, I would maintain this, but I wouldn't try to stay compatible with the IRI SVN version, and I would cleanup the code and the package in general a bit, if you have no problem with that. I think staying compatible has no benefit and just limits the modernization and enhancements of the code.

Hi, I started this development a while ago but I am not in IRI anymore, I don't think it wouldn't be a problem if compatibility is lost, but a note somewhere would be useful. I will send this issue to somebody there so they are aware of it too.