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Examples and tools for ROS1-to-ROS2 migration

Examples of node/component level migrations

• Rviz has been ported https://github.com/ros2/rviz.git

• Autoware algorithms https://gitlab.com/AutowareAuto/AutowareAuto

Examples of system level migrations

• Turtlebot has been ported to ROS 2 https://discourse.ros.org/t/tb3-introducing-ros2-tutorials/5959

• Toyota’s Jaguar 4x4 https://roscon.ros.org/2018/presentations/ROSCon2018_supercharging_the_jaguar4x4.pdf

Useful tools

• 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 exposed their tools for porting ROS 1 robots to ROS 2 https://github.com/awslabs/ros2-migration-tools/tree/master/porting_tools