Merge branch 'ros2' into ros2-migration-nihar

.gitignore

@@ -51,3 +51,6 @@ deprecated/IndyAV/simulation/indyav_gazebo/worlds/speedways/*.xacro
 
 # Unpackaged proprietary software
 mil_common/drivers/mil_blueview_driver/bvtsdk
+
+# ROS2 stuff
+roscompile

scripts/install_magical_ros2.sh

@@ -0,0 +1,25 @@
+#! /usr/bin/env bash
+
+## Ensure that the user is at ~/catkin_ws/src/mil
+cd ~/catkin_ws/src/mil || exit
+
+cmonly() {
+	cd ~/catkin_ws || exit
+	catkin_make --only-pkg-with-deps "$1"
+	cd - >/dev/null || exit
+}
+
+## Clone the magical_ros2 repository
+git clone https://github.com/DLu/roscompile
+cd roscompile || exit
+cmonly ros_introspection
+cmonly roscompile
+cmonly magical_ros2_conversion_tool
+cd ~/catkin_ws/src/mil || exit
+
+python3 -m pip install ruamel.yaml
+
+echo -e "\n\n\n\n\n"
+echo "To call the conversion tool, run the following command:"
+echo ">>> rosrun magical_ros2_conversion_tool ros2_conversion"
+echo "This will convert the ROS1 packages in the workspace to ROS2 packages."