Posted by @lilblueyes:
Hello everyone,
I’m currently trying to integrate a TurtleBot4 (TB4) robot with Open-RMF under ROS2 Humble, using Nav2 and Free Fleet. However, I’ve encountered a compatibility issue related to the EasyFullControl module:
On the main branch and in previous ROS2 versions, there is an EasyFullControl.hpp file.
On the humble branch, this file is missing, so I cannot use it directly.
This missing file impacts multiple components:
-
The fleet_adapter_tb4 example references EasyFullControl, which prevents using that adapter with Humble.
-
The Nav2 examples in Free Fleet also need it (nav2_robot_adapter.py), making them incompatible with Humble as well.
Because this module is essential for these integrations, I’m wondering if there is an existing workaround or if a backport of EasyFullControl to the Humble branch is planned. Any guidance or suggestions would be greatly appreciated, as I cannot change from ROS2 Humble.
Thank you in advance for your help!
Chosen answer
Answer chosen by @lilblueyes at 2025-02-28T12:01:36Z.
Answered by @mxgrey:
The current main branch of rmf_ros2 is still compatible with the humble distribution. We just can’t backport the EasyFullControl API to the binary release on the build farm due to the build farm’s stability policies.
You can install the humble distro and then build the main branches of all the RMF repos (except for rmf_simulation) on top of it. For deployments a common practice is to do this in a docker image so you can reuse it.