This talk will cover the process of updating large C++-centric projects from ROS1 to ROS 2. In particular, this talk will focus on achieving mixed ROS1/ROS 2 projects requiring interprogram communication strictly without the use of the dynamic, network level, message bridging tools provided by the ros1_bridge package. Topics to be covered include the basics of setting up a mixed ROS1/ROS 2 build with particular coverage of the use of ros1_bridge library for static, in-program, message conversion; guidance for incrementally converting nodes within a ROS1 system to ROS 2; and a deep dive into the feasibility of message payload conversion techniques before message deserialization.
Presented by: Derek King (Fetch Robotics / Zebra Technologies)
