Note that the shim layer mentioned in the design document linked above is mostly at the CMake level. As most sensor drivers rely heavily on nodelets for performance, I don't think foresee shiming as being a suitable approach to port sensors to ROS2. It will likely be better to convert the driver to use ROS2 directly instead, as nodelets don't exist in ROS2 (every node can be a nodelet, see https://github.com/ros2/ros2/wiki/Composition for more details on node composition in a single process). --- [Visit Topic](https://discourse.ros.org/t/how-to-use-kinect-or-other-sensors-in-ros2/3480/5) 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: