警告

您正在閱讀已達到生命週期結束（end-of-life，EOL）版本的 ROS 2 文件，該版本不再正式受支援。如果您想獲取最新資訊，請參見 Kilted。

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.

• Migrating Packages
• Migrating your package.xml to format 2
• Migrating Interfaces
• Migrating a C++ Package Example
• Migrating C++ Packages Reference
• Migrating a Python Package Example
• Migrating Python Packages Reference
• Migrating Launch Files
• Migrating Parameters
• Migrating Scripts

自動化工具

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