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can ros packages be directly used in ROS2?

asked 2021-05-12 04:27:51 -0500

toSeek_toLearn gravatar image

can all packages developed in ROS be used directly in ROS2? or is there migration of code needed as per suitability of ROS2 needs?

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answered 2021-05-12 10:37:07 -0500

sgvandijk gravatar image

No, you can't directly run ROS 1 nodes in ROS 2, ROS 2 is a complete rewrite without built-in backwards compatibility with ROS 1. A quick search would have pointed you to the comprehensive migration guide:

Having said that, you could run ROS 1 nodes next to ROS 2 using the ROS 1 bridge

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Adding to this: Many of the "little" things have changed with ROS2 (e.g. declaring parameters before their use, how the "spin" function should be handled, launch files are now python files, the DDS for message sending/receiving).

Check out the ROS2 Foxy tutorials. Run through them at least once and try making a quick and easy publisher+subscriber setup. They're very easy, and should give you a good gauge of how to work with ROS2!

Spectre gravatar image Spectre  ( 2021-05-12 15:46:09 -0500 )edit

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Asked: 2021-05-12 04:27:51 -0500

Seen: 188 times

Last updated: May 12 '21