Software reuse in ROS1 and ROS2

[dirk-thomas]

@Paul_Bovbel

Not sure how the story would work for python. Forgive my ignorance of python packaging - a ‘pure’ package in that case would just be a setuptools setup.py type of thing? Is there any way to make a package that would ‘build’ (be referenceable as a dependency/end up on the PYTHONPATH) in both a ROS1 and ROS2 distro?

In ROS 2 pure Python packages (using setuptools) are already supported. In ROS 1 that is not the case. In ROS 1 the setup.py file is being invoked from within CMake and some features (like entry points are not available at the moment. But it should be possible to add support for something like that in ROS 1 (there is no technical reason why that wouldn’t be feasible).