[ros-users] [Discourse.ros.org] [Next Generation ROS] ROS1 shim library development proposal

Sam Pfeiffer ros.discourse at gmail.com
Tue Aug 28 01:53:44 UTC 2018

In [this thread](https://discourse.ros.org/t/ros-comm-request-for-help/5840/8) with @dirk-thomas & @Ingo_Lutkebohle the idea of making a [shim library](https://en.m.wikipedia.org/wiki/Shim_(computing)) to transparently have ROS1 API call ROS2 API underneath.

I'm starting the thread so we can discuss how doable this is and what are the limitations we will find (given that ROS2 structure does not exactly match ROS1).

I think the aim would be to have both a C++ and a Python shim, I'm up for doing work on the Python part (which I'm way more familiar with).

In Python a few dirty monkey-patching tricks on rospy may get something working relatively quickly without doing a full rospy client shim. 

I don't know what could be the approach to minimize or straight away remove the need to touch code on the C++ side.

I guess all the stuff that needs to be shimmed is:
* Node creation/management
* ROS time
* ROS console
* Msg & Srv
* Topics
* Services
* Parameters

I think actionlib, dynamic reconfigure, TF, etc all build upon those so most stuff should work.

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