ROS1ROS2

ROS1 ➡️ ROS2 migration

Headers

ROS1

ROS2

#include "ros/ros.h" #include "std_msgs/String.h" #include "std_msgs/UInt8.h" #include "std_msgs/Float64.h" #include "nav_msgs/Odometry.h" #include "sensor_msgs/NavSatFix.h" #include "sensor_msgs/NavSatStatus.h" #include "sensor_msgs/Imu.h" #include "sensor_msgs/MagneticField.h" #include "sensor_msgs/TimeReference.h" #include "geometry_msgs/Vector3.h" #include "geometry_msgs/PoseStamped.h" #include "tf2/LinearMath/Quaternion.h"

#include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string.hpp" #include "std_msgs/msg/u_int8.hpp" #include "std_msgs/msg/float64.hpp" #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/nav_sat_fix.hpp" #include "sensor_msgs/msg/nav_sat_status.hpp" #include "sensor_msgs/msg/imu.hpp" #include "sensor_msgs/msg/magnetic_field.hpp" #include "sensor_msgs/msg/time_reference.hpp" #include "geometry_msgs/msg/vector3.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "tf2/LinearMath/Quaternion.h"

Rosparam

ROS1

ROS2

n_private.param<std::string> ("ip_address", tcp_ip_addr, "192.168.0.222"); n_private.param<int>("port", tcp_ip_port, 55555); n_private.param<std::string>("gps_receiver_frame_id", gps_receiver_frame_id, "duro_link"); n_private.param<std::string>("imu_frame_id", imu_frame_id, gps_receiver_frame_id); n_private.param<std::string>("utm_frame_id", utm_frame_id, "utm"); n_private.param<std::string>("z_coord_ref_switch", z_coord_ref_switch, "zero"); n_private.param<std::string>("orientation_source", orientation_source, "gps"); n_private.param<bool>("euler_based_orientation", euler_based_orientation, true);

node->declare_parameter<std::string> ("ip_address", "192.168.0.222"); node->declare_parameter<int>("port", 55555); node->declare_parameter<std::string> ("gps_receiver_frame", "duro"); node->declare_parameter<std::string>("imu_frame","duro"); node->declare_parameter<std::string> ("utm_frame", "map"); node->declare_parameter<std::string> ("orientation_source", "gps"); node->declare_parameter<std::string> ("z_coord_ref_switch", "orig"); node->declare_parameter<bool> ("euler_based_orientation", true); node->get_parameter("ip_address", tcp_ip_addr); node->get_parameter("port", tcp_ip_port); node->get_parameter("gps_receiver_frame", gps_receiver_frame); node->get_parameter("imu_frame", imu_frame); node->get_parameter("utm_frame", utm_frame); node->get_parameter("orientation_source", orientation_source); node->get_parameter("z_coord_ref_switch", z_coord_ref_switch); node->get_parameter("euler_based_orientation", euler_based_orientation);

ROS1 ➡️ ROS2 migration

ROS1	ROS2