what are some possible difficulties, when migrating a robot driver from ROS1 Kinetic to ROS2 Galactic?

asked 2021-09-21 14:48:46 -0600

M_Barsalou gravatar image

Hi, I'm evaluating different ROS related topics for a senior project at University. My professor has a project working with a Staubli Robot and its ROS driver. staubli. I have some experience with ROS1, but not any with ROS2 yet. One of my ideas was to migrate the driver from ROS1 to ROS2. I'm in no way an experienced package maintainer. I do not know how much effort such a migration could be. (Best case vs worst case scenario)

Possible issues I currently know: - different Python versions - different c++system libraries - different build system

What are some of the other issues I could run into?

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Is your question about the staubli_val3_driver package specifically, or "robot driver" in general?

I believe the answer will be rather different depending on which it is.

gvdhoorn gravatar image gvdhoorn  ( 2021-09-22 05:15:28 -0600 )edit

Yes this driver specifically, sorry for being inpercise. I'm still learning about various Robot drivers and ROS2. I will try to write an issue in the Reposatory.

M_Barsalou gravatar image M_Barsalou  ( 2021-09-23 02:06:41 -0600 )edit

Hi, this question is related to this issue #37. M_Barsalou is a future member of our research project which utilizes the staubli package as a platform. We are using a TX60l model simulated in Staubli SRS and controlled with MoveIt via the interface provided by the staubli_val3_driver. The current setup is working with ROS1, but we believe a port to ROS2 would be useful for the future.

MarioSpeckert gravatar image MarioSpeckert  ( 2021-09-23 04:06:58 -0600 )edit