Ubuntu 22.04 ROS 2 Humble 项目通过 TRAE 改成 Ubuntu 202.04 ROS 1 Noetic 项目的SKLL技能此SKILL是通过实例适配后生成的SKLLSKILL.md--- name: ros2-to-ros1-adaptation description: Adapts ROS2 C projects to ROS1 Noetic. Invoke when user requests ROS1 adaptation or needs to convert ROS2 code to ROS1. --- # ROS2 to ROS1 Noetic Adaptation Skill This skill provides a comprehensive guide for adapting ROS2 C projects to ROS1 Noetic, ensuring algorithmic logic remains unchanged. ## 适用场景 当用户需要 - 将 ROS2 项目适配到 ROS1 Noetic - 修复 ROS2 相关的编译错误 - 转换 ROS2 API 到 ROS1 API - 保持算法逻辑不变仅做框架适配 ## 适配清单 ### 1. 头文件修改 | ROS2 头文件 | ROS1 替换 | |------------|----------| | #include rclcpp/rclcpp.hpp | #include ros/ros.h | | #include rclcpp/logging.hpp | 移除使用 ros/ros.h | | #include sensor_msgs/msg/point_cloud2.hpp | #include sensor_msgs/PointCloud2.h | **示例修复** cpp // ROS2 #include rclcpp/logging.hpp RCLCPP_INFO(get_logger(), Value: %d, value); // ROS1 #include ros/ros.h ROS_INFO(Value: %d, value); ### 2. 日志宏修改 | ROS2 | ROS1 | |------|------| | RCLCPP_INFO(logger, ...) | ROS_INFO(...) | | RCLCPP_WARN(logger, ...) | ROS_WARN(...) | | RCLCPP_ERROR(logger, ...) | ROS_ERROR(...) | | RCLCPP_DEBUG(logger, ...) | ROS_DEBUG(...) | | RCLCPP_INFO_STREAM(logger x) | ROS_INFO(format, args) | **重要ROS1 使用 printf 格式不支持流式操作符 ** cpp // ROS2 流式日志错误示例 RCLCPP_WARN(logger, 丢弃帧时间 time 数量 count); // ROS1 printf 格式正确 ROS_WARN(丢弃帧时间%.3f数量%lu, time, (unsigned long)count); ### 3. 消息类型修改 | ROS2 | ROS1 | |------|------| | sensor_msgs::msg::PointCloud2::SharedPtr | sensor_msgs::PointCloud2ConstPtr | | sensor_msgs::msg::PointCloud2::ConstSharedPtr | sensor_msgs::PointCloud2ConstPtr | | nav_msgs::msg::Odometry::SharedPtr | nav_msgs::OdometryConstPtr | | geometry_msgs::msg::PoseStamped | geometry_msgs::PoseStamped | ### 4. Ceres Solver API 修改 ROS1 Noetic 使用 Ceres Solver 1.xROS2 Humble 使用 Ceres Solver 2.x | ROS2 (Ceres 2.x) | ROS1 (Ceres 1.x) | |-----------------|------------------| | ceres::EigenQuaternionManifold | ceres::EigenQuaternionParameterization | | ceres::AutoDiffManifold | ceres::AutoDiffCostFunction | cpp // ROS2 auto *parameterization new ceres::EigenQuaternionManifold(); problem.SetManifold(quat[0], parameterization); // ROS1 auto *parameterization new ceres::EigenQuaternionParameterization(); problem.AddParameterBlock(quat[0], 4, parameterization); ### 5. 格式字符串修改 size_t 类型在不同平台大小不同ROS1 日志需要显式转换 cpp // ROS2可能警告 ROS_INFO(帧数%zu, frame_count); // ROS1跨平台兼容 ROS_INFO(帧数%lu, (unsigned long)frame_count); **所有 %zu → %lu (unsigned long) 类型转换** ### 6. TF 广播器修改 | ROS2 | ROS1 | |------|------| | tf2_ros::TransformBroadcaster | tf::TransformBroadcaster 或保持 tf2_ros | | tf2_ros::Buffer | tf::TransformListener 或保持 tf2_ros | **注意ROS1 Noetic 也支持 tf2_ros可选择性使用** cpp // 方案一使用 tfROS1 传统 #include tf/transform_broadcaster.h tf::TransformBroadcaster tf_broadcaster_; // 方案二保持 tf2_rosROS1 Noetic 也支持 #include tf2_ros/transform_broadcaster.h tf2_ros::TransformBroadcaster tf_broadcaster_; ### 7. 时间相关修改 | ROS2 | ROS1 | |------|------| | node-now() | ros::Time::now() | | rclcpp::Time | ros::Time | | rclcpp::Duration | ros::Duration | | RCLCPP_SECONDS | ros::Duration(1.0) | ### 8. 参数获取修改 | ROS2 | ROS1 | |------|------| | node-declare_parameter(name, default) | nh.param(name, var, default) | | node-get_parameter(name).as_double() | nh.paramdouble(name, var, default) | cpp // ROS2 node-declare_parameter(threshold, 0.5); double threshold node-get_parameter(threshold).as_double(); // ROS1 ros::NodeHandle nh(~); double threshold; nh.param(threshold, threshold, 0.5); ### 9. RViz 配置文件修改 RViz 配置文件.rviz需要修改插件类名和移除 ROS2 QoS 属性 | ROS2 类名 | ROS1 类名 | |-----------|----------| | rviz_common/Displays | rviz/Displays | | rviz_common/Selection | rviz/Selection | | rviz_common/Tool Properties | rviz/Tool Properties | | rviz_common/Views | rviz/Views | | rviz_common/Time | rviz/Time | | rviz_default_plugins/Grid | rviz/Grid | | rviz_default_plugins/Axes | rviz/Axes | | rviz_default_plugins/Path | rviz/Path | | rviz_default_plugins/PointCloud2 | rviz/PointCloud2 | | rviz_default_plugins/TF | rviz/TF | | rviz_default_plugins/Odometry | rviz/Odometry | | rviz_default_plugins/MarkerArray | rviz/MarkerArray | | rviz_default_plugins/Interact | rviz/Interact | | rviz_default_plugins/MoveCamera | rviz/MoveCamera | | rviz_default_plugins/Select | rviz/Select | | rviz_default_plugins/FocusCamera | rviz/FocusCamera | | rviz_default_plugins/Measure | rviz/Measure | | rviz_default_plugins/SetInitialPose | rviz/SetInitialPose | | rviz_default_plugins/SetGoal | rviz/SetGoal | | rviz_default_plugins/PublishPoint | rviz/PublishPoint | | rviz_default_plugins/Orbit | rviz/Orbit | **移除 ROS2 QoS 属性删除以下行** - Durability Policy: Volatile - Reliability Policy: Reliable - History Policy: Keep Last ### 10. Launch 文件修改 | ROS2 (.launch.py) | ROS1 (.launch) | |------------------|----------------| | Python 脚本 | XML 文件 | | LaunchDescription() | launch | | Node(packagepkg, ...) | node pkgpkg .../ | | DeclareLaunchArgument | arg name... default.../ | **ROS1 XML Launch 示例** xml launch arg nameconfig default$(find pkg_name)/config/default.yaml / arg namerviz defaulttrue / node pkgpkg_name typenode_name namenode_name outputscreen param nameconfig_file_path value$(arg config) / /node node if$(arg rviz) pkgrviz typerviz namerviz args-d $(find pkg_name)/launch/config.rviz / /launch ### 11. CMakeLists.txt 修改 | ROS2 (ament_cmake) | ROS1 (catkin) | |--------------------|---------------| | find_package(ament_cmake REQUIRED) | find_package(catkin REQUIRED) | | ament_target_dependencies(target) | catkin_package() | | install(TARGETS target) | catkin_install_python() | | ament_package() | 移除 | **ROS1 CMakeLists.txt 模板** cmake cmake_minimum_required(VERSION 3.0.2) project(package_name) set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs nav_msgs geometry_msgs pcl_conversions message_filters ) find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED) find_package(Ceres REQUIRED) catkin_package( CATKIN_DEPENDS roscpp std_msgs sensor_msgs ) include_directories( ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) add_executable(node_name src/main.cpp) target_link_libraries(node_name ${catkin_LIBRARIES} ${CERES_LIBRARIES} ${PCL_LIBRARIES} ) ### 12. package.xml 修改 | ROS2 | ROS1 | |------|------| | build_typeament_cmake/build_type | 移除 | | dependrclcpp/depend | dependroscpp/depend | | format3 | format2 或 format3 | **ROS1 package.xml 模板** xml ?xml version1.0? package format2 namepackage_name/name version1.0.0/version descriptionDescription/description maintainer emailuserexample.comUser/maintainer licenseMIT/license buildtool_dependcatkin/buildtool_depend build_dependroscpp/build_depend build_dependstd_msgs/build_depend exec_dependroscpp/exec_depend exec_dependstd_msgs/exec_depend dependeigen/depend dependlibpcl-all-dev/depend /package ## 执行步骤 1. **检查项目结构**确认是 ROS2 项目 2. **修改头文件**替换所有 rclcpp 头文件 3. **修改日志宏**转换所有 RCLCPP_* 到 ROS_*使用 printf 格式 4. **修改消息类型**替换 ::msg:: 类型为 ROS1 类型 5. **修改 Ceres API**如使用 Ceres替换 Manifold 为 Parameterization 6. **修复格式字符串**所有 %zu 改为 %lu 并添加类型转换 7. **修改 TF 库**根据需要选择 tf 或 tf2_ros 8. **修改 RViz 配置**替换插件类名移除 QoS 属性 9. **创建 Launch 文件**将 .launch.py 转换为 .launch XML 10. **修改 CMakeLists.txt**适配 catkin 构建系统 11. **修改 package.xml**适配 ROS1 依赖格式 12. **编译验证**catkin_make_isolated --pkg package_name ## 注意事项 - **不要修改算法逻辑**仅做 ROS API 层面的适配 - **保持代码风格一致**不添加不必要的注释或格式化 - **测试编译**每步修改后尝试编译及时发现错误 - **参考已适配项目**如有成功案例可参考其修改方式 ## 常见错误 | 错误信息 | 解决方案 | |---------|---------| | rclcpp/logging.hpp: No such file | 移除头文件使用 ros/ros.h | | invalid operands to binary operator | 日志宏改用 printf 格式 | | EigenQuaternionManifold not found | 改用 EigenQuaternionParameterization | | format %zu expects size_t | 改用 %lu (unsigned long) | | rviz_default_plugins not found | RViz 配置改用 rviz/* 类名 | | PGOConfig does not name a type | 检查结构体定义确保类型名正确 | | pose_time is not a member | 检查实际成员名可能是 .time | | std::filesystem not declared | 添加 #include filesystem | ## 快速检查脚本 检查项目中的 ROS2 依赖 bash # 检查 rclcpp 使用 grep -rn rclcpp src/ grep -rn RCLCPP src/ # 检查 ROS2 消息类型 grep -rn ::msg:: src/ # 检查 Ceres Manifold grep -rn Manifold src/ # 检查格式字符串 grep -rn %zu src/ # 检查 RViz 配置 grep -rn rviz_common *.rviz grep -rn rviz_default_plugins *.rviz grep -rn Durability Policy *.rviz grep -rn Reliability Policy *.rviz ## 成功标志 - 编译无错误catkin_make_isolated --pkg package_name 成功 - RViz 正常加载无插件加载错误 - 节点正常运行roslaunch 启动无报错 - 数据正常订阅rostopic echo 可查看话题数据 --- 此技能基于 ii_nvm_ros1_noetic 项目实际适配经验总结。
