Support Focal instead of Jammy for ROS 2 Humble + ROS 1 Noetic

[Ryanf55]

Hello,

I'm reading REP-2000 and noticed that ROS2 humble has tier 3 support for Ubuntu focal.
Meanwhile, ROS 1 noetic does not have any claimed support for Ubuntu Jammy.
https://www.ros.org/reps/rep-0003.html#noetic-ninjemys-may-2020-may-2025

Would you be open to a contribution for a Focal base image that accomplishes the same goal?

[TommyChangUMD]

I am not sure I understand.
You want to run ros1 bridge on Ubuntu Focal (20.04) with ROS2 Humble installed?

[TommyChangUMD]

How are you installing ROS2 humble on Ubuntu 20.04? From the source code? Or using robostack https://robostack.github.io/index.html ?

[TommyChangUMD]

I think you should be able to compile the ROS 1 bridge directly on the Ubuntu 20.04 + ROS 2 Humble setup. Have you tried compiling the ROS 1 bridge using the instructions provided at:

https://github.com/smith-doug/ros1_bridge

[TommyChangUMD]

Actually, Jay has already done that. (Installing ros1 bridge on Ubuntu 20.04 + ROS2 Humble)

https://github.com/jayprajapati009/ros1_bridge_tutorial

[Ryanf55]

How are you installing ROS2 humble on Ubuntu 20.04? From the source code? Or using robostack https://robostack.github.io/index.html ?

Source for humble, binaries for noetic. See here for the full implementation:
osrf/docker_images#778

It's following the same methodology as Jay - his README is very nice.

Yes, I want ROS2 Humble and ROS 1 Noetic with rosbridge.

I was more curious why you chose to develop on Jammy instead of focal.

[TommyChangUMD]

I see. Nice work!

And the main reason that I am using Ubuntu 22.04 (Jammy) is because it allows me to install the ROS 2 Humble binary package directly, without needing to compile it from source.

[Ryanf55]

Is that to save build time? I avoided ROS 1 on Ubuntu 22 because of all the dpkg issues and shared library link problems.

Through the use of docker caching, doing a source build of humble doesn't take a lot of time. If you are interested, I could split that into a multi-stage build and push the layers to dockerhub.

[TommyChangUMD]

Yes, but not only to save build time but also to take advantage of numerous additional pre-built binary packages, such as Gazebo ROS plugins, TurtleBot3, and others that are not an integral part of the ROS Humble source code.

[Ryanf55]

Thanks, I appreciate the motivation, and think that we were after different goals.

To install the rest of these ROS 2 packages, I just use a Jammy docker environment. The only thing that really needs compiled is the dependencies of the ros bridge and its messages.

Seems like different goals lead to different results for something on the surface is very similar.