README.md

ros_to_ros2

Repository dedicated to ease the way from ROS1 to ROS2 by providing a cheatsheet and examples to be ran.

Useful Commands

• To find where a package is located:

Before: $ rospack find $PACKAGE_NAME

Now: $ ros2 pkg prefix $PACKAGE_NAME

• Accessing a package’s path:

Before: $ roscd PACKAGE_NAME

Now: $ colcon_cd PACKAGE_NAME

• Creating a package. It differs for a Python and CPP package. We still have CMakeList and package.xml manifest. In Python we don’t need a CMakeList, but a setup.py and then colcon build to build it.

Before: $ catkin_create_package PACKAGENAME

Now: $ ros2 pkg create PACKAGE_NAME —build-type ament

• Displaying a message:

Before: $ rosmsg show geometry_msgs/Twist

Now: $ ros2 interface show std_msgs/msg/String

• Output tf tree to a pdf:

Now: $ ros2 run tf2_tools view_frames.py

• Monitoring the tf tree

Now: $ ros2 run tf2_ros tf2_monitor