[ros-users] [Discourse.ros.org] [Next Generation ROS] Software reuse in ROS1 and ROS2

dcconner ros.discourse at gmail.com
Fri Jul 21 19:34:13 UTC 2017

We have started looking into ROS2 and like many aspects.  We had planned to rework some of our packages with a core software library  and thin ROS wrapper (similar to nodelets/MoveIt/Tf) usage,  but one issue that has been a stumbling block for us is that we use ROS messages as basic data types and prefer to pass const pointers for most of our data handling.   

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.

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?

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