bohemianrhapsodyz / ros2-launch-file-migrator

This package takes a ROS1 XML launch file and converts it to a ROS2 Python launch file

ROS2 Launch File Migrator

This package takes a ROS1 XML launch file and converts it to a ROS2 Python launch file

Requirements

• Python 3.6+

Installation

pip3 install -e ./ --user

Usage

As a standalone script:

migrate_launch_file path/to/launch_file.launch

In another script

from ros2_launch_file_migrator import LaunchFileMigrator
converted_code =  LaunchFileMigrator.migrate(existing_launch_file_code)

Test

python3 -m pytest

Supported Tags

• <node>
• <arg>
• <param>
• <include>
• <group>
• <rosparam> - Basic config file loading is supported. Custom namespaces are not supported.

Unsupported Tags

You can still convert a launch file with unsupported tags, they will just be skipped.

• <remap>

Known Issues

• In ROS2 you there is a bug where you cannot set the output parameter of a node via an argument (see ros2/launch_ros#46). This is possible in ROS1 so this launch file converter will faithfully convert your launch file correctly but it won't work until the bug is fixed.

License

This library is licensed under the Apache 2.0 License.

Author: AWS RoboMaker Affiliation: Amazon Web Services (AWS) Maintainer: AWS RoboMaker, [email protected]