[ros-users] [Discourse.ros.org] [General] Discussion on ROS to ROS2 transition plan

[Thibault Kruse]

[quote="Dejan_Pangercic, post:60, topic:6155, full:true"]
[quote="TheDash, post:50, topic:6155"]
[quote="TheDash, post:50, topic:6155"]
Does anyone know of an existing ROS2 robot that has been transitioned from ROS1? 
[/quote]
Given the fact that no one here has any examples of porting ROS1 code to ROS2,...
[/quote]
... ROS2 package examples...
So I do not know - do you just don't want to see see all the work that has been done or what kind of examples are you looking for?
[/quote]

Read a post earlier in the context. The question is about who has transitioned a **whole system** running in ROS1 to ROS2. Something like a PR2 or other mobile manipulator. An example of migrating a system that has been set up to execute tasks in a real world setting (or to run a demo to customers / future sponsors, support a research area spawning valuable academic publications) where the robot would solve some impressive challenge in ROS1, and then a team made the robot do the same thing with ROS2.

It seems a rather unrealistic thing to happen. Economically speaking, if a robot system is set up to do a task well, and this setup works nicely (and pays the bills), then switching the middleware is a high-cost high-risk operation with zero return of investments.

So the question should not just be has any team migrated a full system from ROS1 to ROS2, but does any team even have a plan to do so? How many teams would use ROS2 rather than ROS1 to start a new system? It more a question for a ROS survey.





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