Abstract
This tutorial chapter takes a look at changes and features introduced in ROS2, from the ROS1 user perspective. For this chapter, the Melodic and Dashing ROS distributions are used, as the latest Long-Term-Support (LTS) releases for ROS1 and ROS1 respectively. Starting with how to configure a ROS2 environment and install new packages, ROS1 users should understand that the main rationale behind the newest version of the Robot Operating System stays the same. Continuing with topics, services and actions, terms widely known to ROS1 users, the reader is introduced to the newly added communication protocol in ROS2. The following sections highlight differences in command line tools, source code and compilation procedure, as well as workspace and package structures. The basic procedure on using ROS1 nodes on a ROS2 setup is presented. Additionally, all known simulation and visualisation tools are discussed. Finally, a quick reference chapter summarises some important information in a table, and links to the complementary git repository [6] of this chapter.
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References
R. Planning, MoveIt2 Dashing github repository (2019). https://github.com/ros-planning/moveit2
O. Robotics, ROS2 Dashing installation wiki (2019). https://index.ros.org/doc/ros2/Installation/Dashing/
ROS2. ros1\(\_\)bridge repository (2019). https://github.com/ros2/ros1_bridge
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R. Simulation, Gazebo github repository (2019). https://github.com/ros-simulation/gazebo_ros_pkgs
G. Stavrinos, Tutorial Chapter github repository (2019). https://github.com/gstavrinos/ros2-for-ros1-users
D. Thomas, ROS1 Roadmap ROS Discourse (2019). https://discourse.ros.org/t/planning-future-ros-1-distribution-s/6538
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Stavrinos, G. (2021). ROS2 For ROS1 Users. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 895. Springer, Cham. https://doi.org/10.1007/978-3-030-45956-7_2
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DOI: https://doi.org/10.1007/978-3-030-45956-7_2
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