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Can two different ros2 distributions be used when communicating between ros2 with micro-ros?
I'm wanting to use humble on the micro-ros side and foxy on the ros2 end - are there any issues with doing this?
Other than possible differences in ROS message types between packages for Foxy and Humble, there should be no problems. Middleware abstraction will be the same, even if DDS implementations differ.
More about it is there "About different ROS 2 DDS/RTPS vendors".
You should focus on starting with micro-ros with Humble, get every ROS topic/service/action as a working input/output, then you can connect them with your PC as usual.
A quick note:
Middleware abstraction will be the same, even if DDS implementations differ.
the abstraction perhaps, but there is currently no guarantee of cross-vendor compatibility. Cyclone DDS and Fast-DDS are known to be incompatible for instance (see ros2/rmw_cyclonedds#184).
This essentially means only Fast-DDS can be used with micro-ROS, unless the application does not use services nor actions (ie: only topics).
For the OP, this wouldn't pose a problem, as both Foxy and Humble use Fast-DDS by default. But Galactic would be incompatible, and so would anyone trying to use Cyclone DDS with micro-ROS.
Asked: 2022-09-05 04:42:09 -0500
Seen: 471 times
Last updated: Sep 05 '22
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Other than possible differences in ROS message types between packages for Foxy and Humble, there should be no problems. Do you have something specific in mind?
Thanks. Nope, I was just wanting to make sure that this wouldn't cause any issues.
I moved this comment to a reply + added some direction to your search, I hope :)