How to Migrate a ROS1 Project to ROS2 (High Level Explanation)

[@edipahmetunluer5007]

Very nice explanation!

[@MarcusVinicius-lq3fe]

I have an issue of simulate 2D laser,radar and GPS in my robot model, since these gazebo plugins sensors were not ported to ROS2. Do you teach in your course how to overcome this issue and use a ROS1 sensors in a ROS2 simulation? I don't see any feasible way...since I dont have a simulation on ROS1...I just need the plugins working for ROS2

[@RoboticsBackEnd]

Unfortunately I don't teach this specific topic on the course. But actually those plugins have been ported to ROS2, see here: github.com/ros-simulation/gazebo_ros_pkgs/tree/ros2/gazebo_plugins/include/gazebo_plugins

[@MarcusVinicius-lq3fe]

@@RoboticsBackEnd Thanks for the reply. Actually I am using the ray sensor to simulate a Velodyne( it must work for my 2D scan as well)... I tried the GPS plugin and didn't work, maybe I used the wrong one. However about radar and ultrassonic sensors I did not check in your link. Were they ported? Do you have a Navigation course using GPS data? I need to reach something in this sense. But using navigation2 stack I was just able to navigate in a closed environment and pre-mapped, not an opened off-road (agricultural) which is what I need...