Syncronized callbacks in ROS2

[gavanderhoorn]

@dirk-thomas

@joq

I like to see ament support in ROS 1.

In code I have seen, that could significantly reduce the diffs. For example, consider the diffs between the master and ros2 branches of the simple unique_identifier packages.

I agree with you that this would be great to have. But supporting ament in ROS 1 implies a tremendous effort which we are not sure atm we can and want to spend. There is no technical reason not to do it - only a problem of available resource. This “feature” could also be contributed by the community which makes it less “necessary” that OSRF is spending its sparse resources on.

This is off-topic, but: I haven’t been paying attention to ament too much. Could you briefly describe what would be needed to get it to work with ROS1 (ie: what would the “tremendous effort” entail exactly)?