As it currently stands, it is necessary to do some porting of drivers and packages to bring them from ROS1 to ROS2. Some of those changes are mechanical, so will be easy to do (and possibly automate); some of those changes could be eased by a shim layer. @dirk-thomas created a PR detailing some of the problems, thinking, and solutions here:
https://github.com/ros2/design/pull/139 . Feedback on that is welcome.
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