Missing migration tooling for ROS1 to ROS2?

[rgov]

While there are parallel threads on extending ROS1’s lifespan, @adamsj and others have pointed out it is also useful to consider how to help ROS1 projects migrate to ROS2.

Amazon contributed a migration tool a few years ago but it hasn’t been updated lately. It uses libclang to parse C++ sources and help migrate roscpp API calls.

There is also the ros1_bridge package that translates messages between nodes written for different versions of ROS. It needs to know message types at compile-time and requires some configuration, so it is non-trivial to deploy.

My uninformed approach would be something along the lines of automating setup of the ros1_bridge. This might take the form of a tool that integrates with the build system to translate messages definitions, generate a bridge mapping file, and rebuild the bridge every time the messages change.

[clalancette]

@rgov

My uninformed approach would be something along the lines of automating setup of the ros1_bridge . This might take the form of a tool that integrates with the build system to translate messages definitions, generate a bridge mapping file, and rebuild the bridge every time the messages change.

Certainly some automation around the ros1_bridge could help lower the barrier to entry.

Other ideas:

• Improve the migration documentation at ROS 2 Documentation — ROS 2 Documentation: Rolling documentation . It is actually scattered around a bit, but we have:
  • Launch-files-migration-guide — ROS 2 Documentation: Rolling documentation
  • Parameters-YAML-files-migration-guide — ROS 2 Documentation: Rolling documentation
  • Migration-Guide — ROS 2 Documentation: Rolling documentation
  • https://docs.ros.org/en/rolling/Contributing/Migration-Guide-Python.html .
    Improving those, adding new pages, or rearranging the existing documentation could all help.
• Update the migration tool that you pointed to.

[DLu]

I also have put together magical_ros2_conversion_tool.

[Katherine_Scott]

This isn’t an April fools day joke, right?

[DLu]

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