If the ROS1 and ROS2 versions share a substantial amount of code, I would recommend to move this into a dedicated <my_driver> library and have thin <my_driver>_ros1 and <my_driver>_ros2 wrappers.
See also: ROS2 Transition Strategy
| ROS Resources: ROS Homepage | Media and Trademarks | Documentation | ROS Index | How to Get Help | Q&A Help Site | Discussion Forum | Service Status |
If the ROS1 and ROS2 versions share a substantial amount of code, I would recommend to move this into a dedicated <my_driver> library and have thin <my_driver>_ros1 and <my_driver>_ros2 wrappers.
See also: ROS2 Transition Strategy