ROS 2 Migration Plan

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🤖 ROS 1 → 2 Migration Plan

Below is a comprehensive list of packages that need to be migrated from ROS 1 to ROS 2, separated by system. Issues should be made for each package that needs to be converted, with a reference to such issue here!

To avoid having our inboxes and issue page flooded with new issues, only a few issues relevant to this project will be made at any one time!

Helpful Tools

There are several helpful tools and pages that we will use when migrating from ROS 1 to ROS 2. They are listed here:

• Official ROS Migration Guide
• Magical ROS 2 Conversion Tool
• AWS ROS2 Migration Tools

Introduction to ROS 2, and why are we migrating?

ROS 2 is the next major version of ROS. It serves as a successor to ROS 1 (what we are currently using right now), and features some significant changes that would break compatibility with previous versions of ROS 1. You should know that ROS 1 and ROS 2 are very similar, but many of the names and styles of creating nodes have changed.

More and more ROS development is focusing on ROS 2 (VRX, Gazebo, etc.). We want to update our code to work well with these tools so that we can use the most recent, up-to-date versions of ROS and ROS-related tools.

Versioning and your setup

There are several versions of ROS 2. We will be targeting Humble (with support until May 2027) on Ubuntu 22.04. For now, you do not need to upgrade your installation of Ubuntu 20.04 if you would not like to do so. You will still be able to assist in the migration, you just cannot run any of the converted code yet. That's totally okay, since usually we verify big migrations like this at the end of the migration, since it's hard to test the workings of a codebase that half supports ROS 1 and ROS 2.

Alternatively, you may want to install ROS 2 on your existing Ubuntu 20.04 setup, or you may want to setup Ubuntu 22.04 with a ROS 2 install. It shouldn't be required, but you may want to do so for your convenience, curiosity, or interest.

Required readings

Before getting started, please skim over the following documents: (it will take you like 20 minutes)

• ROS2 Humble Docs: Migrating from ROS 1 to ROS 2
  • Migrating Python Packages
  • Migrating Interfaces (messages/services/actions)
• ROS2 vs. ROS1 - key differences and which one is better?

Migration Guide

Great! So you're ready to start migration your package. How do you get started?

1. Choose a package from the list below that still needs to be migrated (:x:)
2. Create a new branch off of the existing ros2 branch.
3. Migrate it by hand, or using the automated tools in the links above if you prefer. Remember that if you use the automated tools, they may convert too much/too little, and you'll need to verify their output.
4. Create a new pull request of your branch back into ros2.

Development Guide

After migrating a package, please immediately open a pull request into the ros2 branch. Once everything has been verified as being stable/when all packages have been migrated, we will merge the ros2 branch into main. That will likely be towards the end of the semester!

Navigator (30 packages)

Migrated	Package
❌	NaviGator/gnc/navigator_msg_multiplexer
❌	NaviGator/gnc/navigator_thrust_mapper
❌	NaviGator/gnc/navigator_path_planner
❌	NaviGator/gnc/navigator_controller
❌	NaviGator/hardware_drivers/navigator_kill_board
❌	NaviGator/mission_control/navigator_alarm
❌	NaviGator/mission_control/navigator_launch
❌	NaviGator/mission_control/navigator_missions
❌	NaviGator/mission_systems/navigator_scan_the_code (#733)
❌	NaviGator/perception/navigator_vision
❎	NaviGator/satellite/rviz_satellite
❎	NaviGator/simulation/VRX/vrx/usv_gazebo_plugins (OSRF code)
❎	NaviGator/simulation/VRX/vrx/usv_msgs (OSRF code)
❎	NaviGator/simulation/VRX/vrx/vrx_gazebo (OSRF code)
❎	NaviGator/simulation/VRX/vrx/wamv_description (OSRF code)
❎	NaviGator/simulation/VRX/vrx/wamv_gazebo (OSRF code)
❎	NaviGator/simulation/VRX/vrx/wave_gazebo (OSRF code)
❌	NaviGator/simulation/navigator_2dsim
❌	NaviGator/simulation/navigator_gazebo
❌	NaviGator/test/navigator_test
❌	NaviGator/utils/navigator_battery_monitor
❌	NaviGator/utils/navigator_gui
❌	NaviGator/utils/navigator_judgepanel
✅ (#1159)	NaviGator/utils/navigator_msgs
❌	NaviGator/utils/navigator_robotx_comms
❌	NaviGator/utils/navigator_tools
❌	NaviGator/utils/remote_control/navigator_emergency_control
❌	NaviGator/utils/remote_control/navigator_joystick_control
❌	NaviGator/utils/remote_control/navigator_keyboard_control
❌	NaviGator/utils/voltage_gui

Subjugator (15 packages)

Migrated	Package
❌	SubjuGator/command/sub8_alarm
❌	SubjuGator/command/sub8_launch
❌	SubjuGator/command/sub8_missions
❌	SubjuGator/drivers/sub8_actuator_board
❌	SubjuGator/drivers/sub8_thrust_and_kill_board
❌	SubjuGator/perception/sub8_perception
❌	SubjuGator/perception/sub8_pointcloud
❌	SubjuGator/simulation/sub8_gazebo
❌	SubjuGator/simulation/sub8_simulation
❌	SubjuGator/utils/sub8_diagnostics
❌	SubjuGator/gnc/c3_trajectory_generator
❌	SubjuGator/gnc/rise_6dof
❌	SubjuGator/gnc/sub8_controller
❌	SubjuGator/gnc/sub8_system_id
❌	SubjuGator/gnc/sub8_thruster_mapper

mil_common (15 packages)

Migrated	Package
❌	mil_common/drivers/mil_pneumatic_actuator
❌	mil_common/drivers/sabertooth2x12
❌	mil_common/drivers/mil_passive_sonar
❌	mil_common/drivers/mil_usb_to_can
❌ (Naresh)	mil_common/gnc/odometry_utils
❌	mil_common/gnc/rawgps_common
❌ (Naresh)	mil_common/gnc/mil_bounds
❌	mil_common/mil_missions
❌	mil_common/perception/mil_mlp (Deprecated)
❌	mil_common/perception/mil_vision
❌	mil_common/ros_alarms
❌ (cameron)	Submodule: mil_common/axros
❌	mil_common/utils/mil_poi
❌	mil_common/utils/mil_tools