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

Dirk Thomas ros.discourse at gmail.com
Fri Jul 21 19:46:30 UTC 2017



[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.





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