Is it possible to build a ROS Noetic Snap that will interact with ROS Melodic?

asked 2020-11-06 02:39:21 -0500

Py
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I'd like to deploy a ROS Noetic package as a Snap, developed on Ubuntu 20. However, I'd like to install this Snap on a Clearpath Jackal, which is running various ROS Melodic packages on Ubuntu 18. Would this be possible? Would the Snap be able to subscribe to topics that are being published on by the ROS Melodic system even though it is based on ROS Noetic?

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answered 2020-11-06 08:54:38 -0500

crnewton
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ROS packages can subscribe and publish regardless of the other nodes. (can be ROS/ROS2/Noetic/Melodic) I think your struggle will be with running the ROS Noetic package in a ROS Melodic environment, you have to make sure all the dependencies can be found.

If it's an option for your case I'd settle for one ROS version, or have 2 ROS systems that interact (1 running ROS Noetic, 1 running ROS Melodic)

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Thanks for the comment. For me it would be more a case of having 2 ROS systems that interact anyway, as you suggest. However, in the Noetic system I would still need to run a few Melodic packages. Do you think this would be possible?

Py ( 2020-11-06 09:00:21 -0500 )edit

If your case has 2 ROS systems anyway then just run the Melodic packages from Melodic. about running Melodic packages in Noetic: https://answers.ros.org/question/3617...

crnewton ( 2020-11-06 09:03:18 -0500 )edit

Good idea but ideally I'd like to avoid installing anything new on the Melodic system and need to do all the custom development with Noetic. I would if there's a way to make something like cartographer and the jackal packages work in Noetic?

Py ( 2020-11-06 09:12:22 -0500 )edit

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answered 2020-11-06 10:25:33 -0500

kyrofa
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updated 2020-11-06 10:26:19 -0500

I recommend settling on one ROS release, you'll get the best results that way. However, since the snap is isolated, you won't have any dependency issues. I think this will ultimately come down to message definitions: as long as the hashes of the messages are the same between the two releases, this could work.

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as long as the hashes of the messages are the same between the two releases, this could work.

this is indeed the important part.

As long as messages haven't changed, it could work.

See also #q363757 for a recent discussion.

The fact that snap is being used does not change anything here.

gvdhoorn ( 2020-11-06 10:51:17 -0500 )edit

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Is it possible to build a ROS Noetic Snap that will interact with ROS Melodic?

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