Migrate from ROS 1 to ROS 2: catkin to colcon, packages and ros1_bridge
Moving a ROS 1 codebase to ROS 2 changes the build tool, package files, launch files and parameters. The assistant answers step by step from the official migration guides.
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Building: colcon and the missing devel space
Instead of catkin_make, catkin_make_isolated or catkin build, ROS 2 uses colcon to build and install packages. There is no equivalent to the devel space in ROS 2, so a missing devel folder is expected, and references such as CATKIN_DEVEL_PREFIX should be removed.
Symbolic link installation, enabled with colcon build --symlink-install, essentially replaces the devel space: you can edit Python code and configuration files without rerunning the install step. In CMakeLists.txt, replace find_package(catkin ...) with individual calls for each dependency, since ROS 2 packages use ament_cmake_ros instead of catkin.
Bridging with ROS 1 on Ubuntu 22.04
Humble on Ubuntu 22.04 is the first ROS 2 release on a platform with no official ROS 1 release. To bridge with the upstream ROS 1 packages from Debian and Ubuntu, the documentation explains that installing ROS 2 from deb packages does not work because of a conflict over catkin-pkg-modules, so the documented route is to build ROS 2 from source and then build ros1_bridge.
Questions fréquentes
Are there tools to automate the migration?
The documentation lists several, noting they are not exhaustive: the Magical ROS 2 Conversion Tool, a launch file migrator that turns ROS 1 XML launch files into ROS 2 Python launch files, and rospy2, which converts rospy calls to rclpy calls.
Do ROS 1 launch files carry over?
ROS 1 launch files are always XML, while ROS 2 supports XML, YAML and Python. The migration guide maps ROS 1 tags such as launch, node and param to their ROS 2 equivalents.
How do ROS 1 TCPROS and UDPROS map to ROS 2?
The reliable policy is akin to TCPROS and best effort to UDPROS, although even reliable delivery in ROS 2 runs over UDP. History plus depth replaces the ROS 1 queue size.
Intégrer / API / MCP
Branchez cette base à Claude, Cursor, ChatGPT ou votre propre application. Chaque requête API ou MCP coûte 0,10 €, débitée de votre crédit Kopik (non facturée si rien n'est trouvé). Il vous faut une clé API : créez-la depuis votre tableau de bord.
MCP pour vos agents
Adresse du serveur MCP de cette base (outils ask_base et search_base) :
https://kopik.io/api/mcp?base=ros2-robotics-documentationClaude Code, Cursor et autres clients
claude mcp add --transport http kopik-ros2-robotics-documentation "https://kopik.io/api/mcp?base=ros2-robotics-documentation" --header "Authorization: Bearer kpk_…"{
"mcpServers": {
"kopik-ros2-robotics-documentation": {
"url": "https://kopik.io/api/mcp?base=ros2-robotics-documentation",
"headers": {
"Authorization": "Bearer kpk_…"
}
}
}
}API REST pour vos applications
mode vaut "answer" (réponse rédigée + sources) ou "passages" (passages bruts seulement). Ajoutez un maxPriceCents facultatif pour plafonner le prix : si la base coûte plus cher, l'appel est refusé sans rien débiter.
curl -X POST https://kopik.io/api/v1/bases/ros2-robotics-documentation/query \
-H "Authorization: Bearer kpk_…" \
-H "Content-Type: application/json" \
-d '{"question": "Votre question ici", "mode": "answer"}'Pour commencer
- Créez une clé dans votre tableau de bord et rechargez votre crédit.
- Remplacez
kpk_…par votre clé. - Tout le détail (réponses, erreurs, exemples JS et Python) : documentation développeurs.