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

[SubaruArai]

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]

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

[Yadunund]

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]

@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?

[aaronchongth]

With #145 merged, the integration scheme has changed significantly, where only a Zenoh bridge is required to run on the robots, with the proper configurations.

The repository is now built entirely in a ROS 2 workspace, without any ROS 1 packages any more, even for Nav1 integration. Please take a look and see if it suits your use case.