[quote="dcconner, post:6, topic:2262"] It seems that ROS2 uses the ROS1-style message generators, but the output headers are placed in different locations making it difficult to have common source files that can be built for either ROS1 or ROS2. [/quote] The rational why the include path of the generated C++ message code is different is to allow writing dual homed applications. E.g. the `ros1_bridge` needs to access the C++ message definitions for ROS 1 as well as ROS 2 in the same source file. If the generated files would have the same include path that would not be possible. [quote="dcconner, post:6, topic:2262"] Is it possible to have a common header generation scheme so either ROS1 or ROS2 puts the headers and Python class files into a common location relative to the include paths based on package setups? [/quote] It would be possible to generate additional headers which could then be added optionally to the `INCLUDE_DIR`. Those headers could than be used to access the message types using the same include path. But we haven't spend any time towards that. --- [Visit Topic](https://discourse.ros.org/t/software-reuse-in-ros1-and-ros2/2262/8) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: