5.4.6. Migrating from ROS 1 to ROS 2

These guides show how to convert existing ROS 1 packages to ROS 2. If you are new to porting between ROS 1 and ROS 2, it is recommended to read through the guides in order.

• 5.4.6.1. Migrating Packages
• 5.4.6.2. Migrating your package.xml to format 2
• 5.4.6.3. Migrating Interfaces
• 5.4.6.4. Migrating a C++ Package Example
• 5.4.6.5. Migrating C++ Packages Reference
• 5.4.6.6. Migrating a Python Package Example
• 5.4.6.7. Migrating Python Packages Reference
• 5.4.6.8. Migrating Launch Files
• 5.4.6.9. Migrating Parameters
• 5.4.6.10. Migrating Scripts

5.4.6.11. Automatic tools

There are also some automatic conversion tools that exist, though they are not exhaustive:

• Magical ROS 2 Conversion Tool

• Launch File migrator that converts a ROS 1 XML launch file to a ROS 2 Python launch file: https://github.com/aws-robotics/ros2-launch-file-migrator

• Amazon has made their tools for porting from ROS 1 to ROS 2 available at: https://github.com/awslabs/ros2-migration-tools/tree/master/porting_tools

• rospy2 Python project to automatically convert rospy calls to rclpy calls