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Magical ROS2 Conversion Tool

Gif of Shia Lebeouf waving his fingers and saying Magic!

This tool will do a lot of the rote work involved in converting from ROS1 to ROS2.

It is invoked by calling rosrun magical_ros2_conversion_tool ros2_conversion which will then convert all packages found within the current folder.

Based on the official Migration guide.

Warning

Despite having magical in its name, this tool is not magic. In fact, your code is very likely to NOT compile after running this script. It is merely a blunt instrument for getting you part of the way to ROS2.

Features

  • package.xml
    • Upgrades to at least version 2
    • Removes metapackage tag
    • Replace some ROS1 dependencies with their ROS2 equivalent.
  • Messages/Services/Actions
    • Use builtin_interfaces for duration and time
    • Forces Header to be preceded by std_msgs/Header
    • Upgrades to package.xml version 3
    • Uses new dependencies
    • Updates CMake
    • Forces C++14
  • Pure Python Packages
    • Remove CMake file
    • Change build type to ament_python
    • Some very minor Python code changes based on this migration guide
  • CMake
    • Upgrade CMake to 3.5
    • Split the find_package command
    • Switch from catkin to ament
    • Remove catkin-specific logic from CMake
  • C++ Source Code
    • Does some general pattern recognition on C++ source code to use new rclcpp/C++11 patterns.