Making the jump to ROS2

• MoveIt2Docker

  5 11 10.0 Dockerfile

  Docker to run Moveit2

• rclcpp

  4 489 9.1 C++

  rclcpp (ROS Client Library for C++)

  

So one of the bigger issues I've encountered is that re-entrant services can break with the multi-threaded executor https://github.com/ros2/rclcpp/issues/1212 Services in ROS2 by default are not reentrant meaning they need to be called asynchronously. Since my team was porting ROS1 nodes over we wanted to keep the old blocking service call behavior in ROS2 to avoid changing decision logic. Unfortunately, we found out that this can cause the node to crash per the issue above. The fix for that issue was implemented in Humble irc, but can't be ported back to foxy. That's one specific example, but we've seen a few other issues like that as well.

• InfluxDB

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