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

[Devon Ash]

[quote="gerkey, post:65, topic:6155"]

I do ask, echoing @gavanderhoorns comment, that everyone find a way to be both constructive and civil. I realize that civility is rapidly going out of fashion and that, at least in the political world, trying to stick to it has at least in part led to some very troubling results in recent years. But, at the risk of sounding aggrieved and perhaps giving trolls what they crave, I can tell you that claims of moral turpitude, accusations of criminal wrongdoing, and unreasonable demands are, well, demoralizing. Some of my colleagues specifically dont read these threads because doing so just makes it too hard to keep spending time writing code and giving it away for everyone to use.

[/quote]



I'm just going to point something out because perhaps there was a bit of misunderstanding in the strategy and approach I took. Shaking and poking the internet bear is an effective strategy for rallying the internet troops. It's a known effect that when you claim the opposite on the internet that will inspire those to post what is actually going on/the opposite. Contradiction and conflict on the internet is your friend. I understand your political position though - it's probably not something you can do, (but I can, and so I did). We now have a substantial list of posters who have demonstrated what has been done in regards to migration of nodes and entire systems. 



It appears that it *has* been done. The efforts are being tackled by a correct approach by Amazon recognizing that automation was the way to solve it and I would expect nothing less by them given their talent pool. See https://github.com/awslabs/ros2-migration-tools/tree/master/ros2_migration/porting_tools



Other big institutions that managed to do this are the Toyota Research Institute (who have gobbled up amazing amounts of ROS talent). Solid work there after reviewing this https://roscon.ros.org/2018/presentations/ROSCon2018_supercharging_the_jaguar4x4.pdf



I'd be interested on the size of teams which are allocated to achieving such efforts. Perhaps someone from TRI/Chris Lalancette (Open Robotics), Robotis (Turtlebot) or Amazon could touch to those?



For onlookers.. I do suggest to review the above examples in code and perhaps their Wikis to extract a system wide transition plan and potentially create a generic rubric. Add them to https://github.com/ros2/ros2/wiki/Examples-and-Tools-for-ROS1----ROS2-Migrations and https://github.com/ros2/ros2/wiki/Migration-Guide



As a community I wholely believe with the above resources we've all collected in this thread - it's totally possible to create a common community transition plan that we all work through by following the initial efforts of TRI, Amazon, and robotis..











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