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open-rmf / free_fleet

A free fleet management system.
Apache License 2.0
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What are the plans on moving to humble (Ubuntu 22.04)? #138

Open SubaruArai opened 1 year ago

SubaruArai commented 1 year ago

Feature request

Description

What are the plans to moving to ros2 humble (Ubuntu 22.04 LTS)?

Note:

  1. Ubuntu 22.04 LTS does not have a ROS1 official release
  2. open-rmf has already moved to humble

Implementation considerations

The "easy button" would be just deleting all ros1 related packages and files in this repo. I have confirmed that it'll build properly under humble.

Alternatives

Another way is to split the package for server(humble), client(humble), and client(noetic). Although this approach will be time-consuming, it'll retain support for ROS1 based robots.

SubaruArai commented 1 year ago

By the way, Ubuntu 20.04LTS will be EOL in Apr,2025 - which isn't too far away.

Yadunund commented 1 year ago

Ubuntu 22.04 LTS does not have a ROS1 official release

Actually Ubuntu upstream contains ROS 1 debians that you can install via apt on Ubuntu 22.04. There are some differences between those packages and the ones officially distributed by OSRF on Focal. See more here

open-rmf has already moved to humble

The Open-RMF API has not changed since foxy so all packages here will be able to build against humble version of core Open-RMF packages. If there are any ff_ros2_client changes needed due to API changes in nav2 between humble and older distros, you can open a PR to fix that.

SubaruArai commented 1 year ago

@Yadunund Thanks for the conformation! So basically, we're choosing a 3rd option:

Use ubuntu official deb packages for ROS1 to build ROS1 related stuff, all code (ROS1&2) stays within this package.

Did I understand correctly?