Migrating from ROS1

How-to: build ros-noetic on Ubuntu 22.04

Package manifests

CMakeLists.txt

• Start by enabling C++14

set(CMAKE_CXX_STANDARD 14)

find_package(ament_cmake REQUIRED)
find_package(component1 REQUIRED)
# ...
find_package(componentN REQUIRED)


# At the bottom of the file:
ament_package()

Code

• geometry_msgs/msg/TransformStamped.msg
  • ROS1 #include <geometry_msgs/TransformStamped.h>
  • ROS2 #include <geometry_msgs/msg/transform_stamped.hpp>
    • When defining customized *.msg, should not use CamelCase, rather, should use camel_case.