Episode 25: Migrating a large ROS 1 codebase to ROS 2 - Day 1 Main Track - ROSCon2019
2020 January 15 ⋅ Download
ROSCon 2019 Presentation by Geoffrey Biggs (Tier IV/The Autoware Foundation), Esteve Fernandez (Apex.AI/The Autoware Foundation)
With ROS 1 having its last Open Robotics-supported release in May 2020 and ROS 2 becoming increasingly mature, migrating to ROS 2 is becoming a necessity for every ROS-based project. In this talk we present the case of Autoware, an autonomous driving stack that originally started as a ROS 1 R&D project and is being migrated to ROS 2 and re-targeted at production. We describe the approach we are implementing to migrate to ROS 2 and improve quality, while also ensuring the software remains usable and the community remains engaged throughout the process.