Is there any plan for ROS2 support?

[Polgár András]

Hi all,

Thanks a lot for this awesome project!
Do you have any plan for a ROS2 compatible version?

[Bernd Pfrommer]

As of right now I have no plans, but yes, I have considered it. I actually have written some ROS2 code, and the transition ROS1->ROS2 is not too hard, but I hit all kinds of strange snags when actually using it (unexplained message drops in Eloquent) such that I concluded that ROS2, at least for me, is not ready for prime time yet. There is also a question on how to maintain the ROS1 and ROS2 code base in sync. I would probably implement it using macros and #defines, which will probably not make the code look any prettier.

Do you have a concrete ROS2 project that you need it for?

[Polgár András]

Nothing concrete, i was just wondering. Thanks a lot for the detailed answer!

[Lyndsey M]

Hi all,

Wondering if there has been any change in regards to ROS2 support. I have a concrete project using eloquent or foxy that would like to use this code base, so if the support isn't yet available, I'd love to hear about any problems you encountered previously.

Very Respectfully,

Lyndsey Mandelare

[Bernd Pfrommer]

Another notification swallowed by the gmail spam filter, very frustrating. I adjusted the filter again, hope it works this time.

To answer the question: I have recently started a bunch of projects under ROS2 and finally have the feeling that ROS2 is mature enough to transition to. The problem is that I'll then will have to support both ROS1 and ROS2 versions. Converting all the test bags and tests from ROS1 to ROS2 will also be a big issue.

Could you please open an issue against tagslam on github? I'll try to start working on it some time in August.

Thanks,

Bernd