[ros-users] [Discourse.ros.org] [Next Generation ROS] ROS2 perception porting status

[Chris Ye]

Perception includes very important components on ROS, there are 30 useful packages exist on github.com/ros-percepiton but not available on ROS2. Some topics people discussed to ask about the porting status (https://discourse.ros.org/t/ros2-pcl-perceptions/3596, [Porting Image Pipeline to ROS2](https://discourse.ros.org/t/porting-image-pipeline-to-ros2/6107)), some developers may like to contribute. Not found an overall plan for RO2 perception porting, so just did some search and summarized here **to show which are available for ros2, and which are not start that people could contribute to**. Hope this will be helpful. If the information is not up-to-date, please share comments, I'll continuously update it.


Original repositories:
https://github.com/ros-perception

ROS2 Perception: (updated on 9/30)

1. [ar_track_alvar](https://github.com/ros-perception/ar_track_alvar) - Not start
2. [slam_karto](https://github.com/ros-perception/slam_karto) - Not start
3. [open_karto](https://github.com/ros-perception/open_karto) - Not start
4. [opencv_apps](https://github.com/ros-perception/opencv_apps) - Not start
5. [image_pipeline](https://github.com/ros-perception/image_pipeline) - **Started** (code not upstream)
   * Issue: (https://github.com/ros-perception/image_pipeline/issues/360)
6. [image_common](https://github.com/ros-perception/image_common) - **In Progress** (partial Done)
   * Image_transport **Done** - https://discourse.ros.org/t/image-transport-availability-with-ros2/4168
7. [openslam_gmapping](https://github.com/ros-perception/openslam_gmapping) - Not Planed

8. [image_transport_plugins](https://github.com/ros-perception/image_transport_plugins) - **Done**
9. [perception_pcl](https://github.com/ros-perception/perception_pcl) - No planed
10. [sparse_bundle_adjustment](https://github.com/ros-perception/sparse_bundle_adjustment) - not start
11. [vision_opencv](https://github.com/ros-perception/vision_opencv) - **In Progress**
    * cv-bridge **Done**
    * Image-geometry **Done**
12. [laser_filters](https://github.com/ros-perception/laser_filters) - not start
13. [laser_proc](https://github.com/ros-perception/laser_proc) - not start
14. [imu_pipeline](https://github.com/ros-perception/imu_pipeline) - not start
15. [laser_geometry](https://github.com/ros-perception/laser_geometry) - not start
16. [laser_assembler](https://github.com/ros-perception/laser_assembler) - not start
17. [ pointcloud_to_laserscan](https://github.com/ros-perception/pointcloud_to_laserscan) - not start
18. [laser_pipeline](https://github.com/ros-perception/laser_pipeline) - not start
19. [pcl_conversions](https://github.com/ros-perception/pcl_conversions)  - [deprecated] moved to [perception_pcl](https://github.com/ros-perception/perception_pcl)
20. [laser_pipeline](https://github.com/ros-perception/laser_pipeline) - not start
21. [depthimage_to_laserscan](https://github.com/ros-perception/depthimage_to_laserscan) - not start
22. [slam_gmapping](https://github.com/ros-perception/slam_gmapping) - not start
23. [calibration](https://github.com/ros-perception/calibration) - not start
24. [pcl_msgs](https://github.com/ros-perception/pcl_msgs) - not start
25. [camera_info_manager_py](https://github.com/ros-perception/camera_info_manager_py) - not start
26. [graft](https://github.com/ros-perception/graft) - not start
27. [ slam_gmapping_test_data](https://github.com/ros-perception/slam_gmapping_test_data) - not start
28. [megatree](https://github.com/ros-perception/megatree) - not start
29. [camera_pose](https://github.com/ros-perception/camera_pose) - not start
30. [pcl-fuerte](https://github.com/ros-perception/pcl-fuerte) - Ignore





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