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ROS to ROS2 Porting Guide

Fully Automatable Transforms

  • Changing msg, srv, and action includes in C++ files
    • ROS: #include <std_msgs/ColorRGBA.h>
    • ROS2: #include <std_msgs/msg/color_rgba.hpp>
    • Example Script: todo
  • Changing msg, srv, and action namespacing in C++ files
    • ROS: geometry_msgs::Pose
    • ROS2: geometry_msgs::msg::Pose
    • Example Script: todo
  • Changing the logging
    • A first pass of this can be done automatically, but it is better to use the node's logger when possible
    • Example Script: todo
  • package.xml changes
    • Changing from format 1->3 and 2->3
      • ROS:
        • <package>
        • <package format="1">
        • <package format="2">
      • ROS2:
        • <package format="3">
      • Note: Technically, you can still use version 2 unless you are generating custom msgs
      • Example Script: todo
    • Changing buildtool_depend to ament_cmake
      • ROS: <buildtool_depend>catkin</buildtool_depend>
      • ROS2: <buildtool_depend>ament_cmake</buildtool_depend>
      • Example Script: todo
    • Adding <member_of_group>rosidl_interface_packages</member_of_group> to any package that creates custom msgs, srvs or actions
      • Example Script: todo
    • Changing run_depend to exec_depend
      • Example Script: todo
    • Adding <build_type>ament_cmake</build_type> inside <export> ... </export> tags
      • Example Script: todo
    • Changing message_runtime to rosidl_default_runtime
      • Example Script: todo
    • Changing message_generation to rosidl_default_generators
      • Example Script: todo
  • CMakeLists.txt changes
    • Change msg file generation:
      • Transform 1:
        • ROS: add_message_files( .... FILES
        • ROS2: rosidl_generate_interfacesrosidl_generate_interfaces(${PROJECT_NAME}
      • Transform 2:
        • ROS: <msg_name>.msg
        • ROS2: "msg/<msg_name>.msg"
    • Change srv file generation:
      • Transform 1:
        • ROS: add_service_files( .... FILES
        • ROS2: rosidl_generate_interface(${PROJECT_NAME}
      • Transform 2:
        • ROS: <srv_name>.srv
        • ROS2: "srv/<srv_name>.srv"
    • Change action file generation:
      • Transform 1:
        • ROS: add_action_files( .... FILES
        • ROS2: rosidl_generate_interface(${PROJECT_NAME}
      • Transform 2:
        • ROS: <action_name>.action
        • ROS2: "action/<srv_name>.action"
        • NOTE: You will have to manually move DEPENDENCIES from generate_messages( to within the rosidl_generate_interface command

More Involved Transforms

  • Create ros1_bridge mapping rules
  • Transforming publishers, subscribers, servers and clients
  • Tranforming node handles to nodes
  • Changing plugin registering and loading. (See RViz2 plugin development doc)
  • Transforming nodelets to nodes with composition
  • Executors and Node strategy
  • Catkin to Ament (CMakeListst.txt)