Discussion on ROS to ROS2 transition plan

General
79

Using ROS 1 and ROS 2 side by side using https://github.com/ros2/ros1_bridge works perfectly as we have detailed in our ROSCon talk

Taken from GitHub - ros2/ros1_bridge: ROS 2 package that provides bidirectional communication between ROS 1 and ROS 2

  • “support is limited to only the message/service types available at compile time of the bridge”
  • “topics will only be bridged when matching publisher-subscriber pairs are active for a topic on either side of the bridge”
  • “building the ROS 1 bridge can consume a tremendous amount of memory”
  • “first building everything else as usual, then coming back to build the ROS 1 bridge”
  • " CMAKE_PREFIX_PATH must not contain paths from ROS 1 which would overlay ROS 2 packages"
  • “The bridge will be built with support for any message/service packages that are on your path and have an associated mapping between ROS 1 and ROS 2”
  • " This can be done by adding explicit dependencies on the message/service packages to the package.xml of the bridge"

That’s a lot of hoops to jump through, wouldn’t call it “works perfectly”. Just saying.