[ros-users] [Discourse.ros.org] [Next Generation ROS] ROS 2 Collaboration Bulletin Board

[Brett Ponsler]

I have been working on porting many packages which I will organize into various groups. All of the following packages are linked with more detail [here](https://github.com/bponsler/ros2-support). Some of the packages were ported merely to a compiling state and have not been properly tested.

As recommended by @allenh1 and OSRF, I plan to submit upstream PRs for each of these packages in the coming days.

**Sensor packages:**

- [diagnostics](https://github.com/bponsler/diagnostics/tree/ros2-devel)
- [laser_proc](https://github.com/bponsler/laser_proc/tree/ros2-devel)
- [laser_geometry](https://github.com/bponsler/laser_geometry/tree/ros2-devel)
- [phidgets_drivers](https://github.com/bponsler/phidgets_drivers/tree/ros2-devel)
- [urg_node_msgs](https://github.com/bponsler/urg_node_msgs)
- [urc_c](https://github.com/bponsler/urg_c/tree/ros2-devel)
- [urg_node](https://github.com/bponsler/urg_node/tree/ros2-devel) (also see [this conversation](https://discourse.ros.org/t/is-there-a-urg-node-package-in-ros2/2223/3))

**SLAM packages:**

I am in process of combining my own changes with those of @allenh1 so these link to the (soon to be) combined repos.

- [openslam_gmapping](https://github.com/allenh1/openslam_gmapping/tree/ros2_port)
- [slam_gmapping](https://github.com/allenh1/slam_gmapping/tree/ros2_port)

**rqt (and other) packages:**

I was looking to see the level of difficulty of getting rqt tools working and ported all the packages necessary to get rqt_dep to an initial working state.

- [xacro](https://github.com/bponsler/xacro/tree/ros2-devel)
- [cmake_modules](https://github.com/bponsler/cmake_modules/tree/ros2-devel)
- [rospack](https://github.com/bponsler/rospack/tree/ros2-devel)
- [rospkg](https://github.com/bponsler/rospkg/tree/ros2-devel)
- [pluginlib](https://github.com/bponsler/pluginlib/tree/ros2-devel)
- [python_qt_binding](https://github.com/bponsler/python_qt_binding/tree/ros2-devel)
- [qt_core_gui](https://github.com/bponsler/qt_gui_core/tree/ros2-devel)
- [rqt](https://github.com/bponsler/rqt/tree/ros2-devel)
- [rqt_graph](https://github.com/bponsler/rqt_graph/tree/ros2-devel)
- [rqt_dep](https://github.com/bponsler/rqt_dep/tree/ros2-devel)
- [angles](https://github.com/bponsler/angles/tree/ros2-devel)
- [vision_opencv](https://github.com/bponsler/vision_opencv/tree/ros2-devel)
- [interactive_markers](https://github.com/bponsler/interactive_markers/tree/ros2-devel)
- [navigation_msgs](https://github.com/bponsler/navigation_msgs/tree/ros2-devel)
- [resource_retriever](https://github.com/bponsler/resource_retriever/tree/ros2-devel)

I've also been porting [rviz](https://github.com/bponsler/rviz/tree/ros2-devel). My approach is not as thoughtful as @wjwwood's approach: I removed all plugins and am adding them back in one at a time. So far I have: tf, map, and laser scan to some level of functionality.

One of my main motivation in doing this was to avoid needing to publish OccupancyGrid's through the ros1_bridge.





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