Preferred repository structure supporting ros and ros2?

[Levi-Armstrong]

We are in the process of converting several package to support both ros and ros2. In some of the repositories a large portion of the code can easly be made to build for ros and ros2, example shown here. For other packages that leverage action, services, topics it becomes messy with a lot of #ifdef. We have been discussing internally possible options described below and we are interested to get feedback and if there is alternative solution that have not been listed.

• Option 1
  • Create three repositories.
  • One for the core packages that can be easily built with ros and ros2.
  • One containing ros packages
  • One containing ros2 packages, which should be the same package in ros just upgraded to ros2.
• Option 2
  • Create two repositories
  • One for the core packages that can be easily built with ros and ros2.
  • One for both ros and ros2 packages. In this repository there would be a branch for ros(master) and a branch for ros2(master). Then label the release branches something along the lines of ros-kinetic and ros2-crystal.

[Levi-Armstrong]

@gavanderhoorn

[gavanderhoorn]

Discussion took place here: ROS2 Transition Strategy.

[gavanderhoorn]

I'm closing this as the discussion took place somewhere else and we're not expecting any further discussion here.