ROS 1 API adapters to facilitate migration

[gbiggs]

It looks like the last time this was discussed was a year and a half ago.

ROS1 shim library development proposal

Good questions. Short term, I have two issues I’d like to solve: 1) The ROS1 middleware has no security, and is therefore problematic in products. Many other issues I can address on a per-node basis, but security is reallu pervasive. 2) the ROS2 ecosystem lacks some features, particularly in libraries, that ROS1 has. I don’t know what is the best and most realistic path to achieve them, but I personally think the long term goals are twofold: Remember that this thread was started from a cal…