ROS 2 support

[ipa-nhg]

The ROS2 support has to be considered for the two main models of the ROS tooling and their associated tools and features:

Ros model

• Metamodel adaptation or extension : In principle, and for simple use cases, this shouldn't be required. The communication architecture (core of the ROS metamodel) is the same for ROS1 and ROS2 ❗LOW PRIORITY
• Static code analysis and auto-extraction of the model : HAROS supports already ROS2 (ROS2 support git-afsantos/haros#83) , the ros-model-cloud scripts and the infrastructure has to be updated issue open: Add ROS 2 support ros-model-cloud#29 ❗❗MEDIUM PRIORITY
• Rosgraph parser and auto-extraction of the model : the rosgraph_parser has to be ported to ROS2 https://github.com/ipa-nhg/ros_graph_parser ❗❗MEDIUM PRIORITY
• Ros 2 nodes code auto-generation: a prototype of the ROS2 code generator is already working and released. It has to be completed Improve ROS2 code generator to support Services, Actions and parameters #56 Add for the code generator (ROS and ROS2) the support of parameters #75 ❗LOW PRIORITY

RosSystem model

• Metamodel adaptation or extension: An extension of the model will be needed to be able to support the new concepts introduced for ROS2 , like lifecycles or the management of the cores. ❗ ❗ ❗HIGH PRIORITY
• Static code analysis and auto-extraction of the model: HAROS supports already ROS2 (ROS2 support git-afsantos/haros#83) , the ros-model-cloud scripts and the infrastructure has to be updated issue open: Add ROS 2 support ros-model-cloud#29 ❗ ❗MEDIUM PRIORITY
• Rosgraph parser and auto-extraction of the model : the rosgraph_parser has to be ported to ROS2 https://github.com/ipa-nhg/ros_graph_parser ❗ ❗MEDIUM PRIORITY
• Ros 2 launch files auto-generation:
  • Create a template file for ROS2 launch files ❗ ❗ ❗HIGH PRIORITY
  • Develop of a new Xtend compiler plugin to generate ROS2 launch files based on the template ❗ ❗ ❗HIGH PRIORITY
  • Update the method to trigger the generator. Currently for every valid rossystem model imported on the tooling it auto-generates the ROS packages that contains a ROS1 launch file. An option to generate ROS2 artifacts instead of the ROS1 ones has to be added, can this setting option be added in a intuitively way (without a reconfiguration of the compiler)? . Alternatively, OPTION A: the user can trigger the generator for each rossystem model ( "right-click" menu option for the *rossystem file format) or OPTION B: create a new toolbar button which open a pop-up menu asking for the ROS1/2 option and trigger the generator for all the rossystem files of my project or my workspace. A new Xtend compiler ❗ ❗MEDIUM PRIORITY
  • Improve the launch file generator , see: https://docs.ros.org/en/foxy/Guides/Launch-files-migration-guide.html

[ipa-nhg]

Static code analysis and auto-extraction of the model: https://github.com/ipa320/ros-model-extractors

Ros 2 nodes code auto-generation: a prototype of the ROS2 code generator is already working and released. It has to be completed #56 #75 ❗LOW PRIORITY -> WIP: #130

Create a template file for ROS2 launch files : #131