Noetic EOL Post

content/blog/noetic-eol/index.md

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+---
+title: "Upcoming ROS 1 End of Life"
+author:  Kat Scott 
+subtitle: Migration Paths for ROS 1 Users
+created_at: 2024-12-16 16:21:05 -0700
+kind: article
+header_class:  bg-photo 
+header_image:  /imgs/eol-bg.png 
+---
+
+## ROS 1 Noetic Ninjemys goes End-of-Life 2024-05-31
+
+When we [announced](https://www.openrobotics.org/blog/2020/5/23/noetic-ninjemys-the-last-official-ros-1-release) ROS 1 Noetic Ninjemys on May 23rd, 2020 we made it very clear that it would be the last official ROS 1 distribution. 
+In the proceeding five years we focused our efforts on making ROS 2 a world class framework for professional robot development, and our user community seems to agree.
+According to September 2024 download data from our servers ROS 2 downloads now make up almost 80% of all ROS downloads.
+We've now seen ROS 2 used successfully in production by a large number of companies, across dozens of industries, and we think it is time for the last remaining ROS users to make the switch. 
+
+If you have been directed to this page it was probably because you saw one of the notifications we slipped into the source code for ROS Noetic or RViz. 
+We've heard from a number of users that they were unaware that ROS 1 Noetic, and consequently all of 1, will go end-of-life on **May 31st, 2025**.
+We're sorry that we interrupted your work, but it is crucial that you know what happens once ROS 1 goes end-of-life.
+
+<img src="/imgs/distro-download-data.png" alt="ROS Downloads by Distro, September 2024" style="width:600px;align:center"/>
+
+### What Does End-of-Life Mean?
+
+Users often ask us, “what does end of life mean?” 
+To put it briefly, end of life means that the ROS team will no longer support that particular ROS release. 
+In practical terms, this means that after May 31st of 2025 we will no longer be providing the following for any ROS 1 release, including Noetic:
+
+* New features or capabilities
+* Security updates
+* Bug fixes, patches or support
+* Updated binaries
+
+After May 31st, 2025 ROS 1 Noetic may find themselves exposed to un-patched security vulnerabilities and bugs, with few avenues of support short of fixing these issues themselves and recompiling Noetic from source. 
+
+It is also worth *noting the things that won’t change after ROS 1* goes end of life.
+
+* ROS 1 binaries will not suddenly disappear from our servers. They will continue to be hosted in the archive in perpetuity. 
+* ROS 1 projects will not suddenly stop working on May 31st. 
+* Users do not need to migrate immediately, but they should have migration plan and upgrade as soon as is reasonable
+
+
+<br>
+
+### ROS 2 Migration Options
+
+**If you are still using ROS 1 it is time to consider switching to ROS 2 Humble Hawksbill ([migration guide](https://docs.ros.org/en/jazzy/How-To-Guides/Migrating-from-ROS1.html)) or ROS 2 Jazzy Jalisco ([migration guide](https://docs.ros.org/en/jazzy/How-To-Guides/Migrating-from-ROS1.html)).**
+Which distro you choose as your migration target  is going to depend on the complexity of your ROS 1 system.
+This [migration heuristic tool](https://github.com/osrf/ros2-porting-heuristics) can provide you with estimate the complexity of  migrating your project to ROS 2.
+If have a you smaller ROS 1 project, or a reasonably de-coupled workspace, it is most likely that you can migrate ROS 2 Jazzy Jalisco directly.
+The ROS community has produced a number of migration tools which you may find helpful, including this migration tool from [AWS Labs](https://github.com/awslabs/ros2-migration-tools), and this migration tool from ROS maintainer [David Lu!](https://github.com/DLu/roscompile/tree/main/magical_ros2_conversion_tool)
+
+If your ROS 1 system is tightly coupled, has a number of un-ported dependencies, or is reasonably complex, you may want to take advantage of the [ROS 1 to ROS 2 Bridge](https://github.com/ros2/ros1_bridge).
+The ROS 1 to ROS 2 Bridge performs automated translation between major ROS versions and should allow you to migrate your project one package at a time. 
+Due to the operating system constraints for the curent active ROS releases (Noetic / Ubuntu  20.04, Humble / 22.04)  the only way to use the ROS Bridge is to use ROS 2 Humble Hawksbill compiled from source on Ubuntu 20.04, [which has limited Tier 3 support](https://www.ros.org/reps/rep-2000.html#humble-hawksbill-may-2022-may-2027).
+
+<br>
+
+#### Other Migration Options
+
+We highly recommend you migrate your ROS 1 project to ROS 2 as soon as possible.
+Our experience is that most users found the migration process less difficult than the initially expected. 
+If you simply can't migrate your ROS 1 project right now you do have a few options,
+**however, none of these solutions are officially recommended, and we can't speak to their long-term robustness.** 
+Canonical, offers [extended security maintenance](https://ubuntu.com/robotics/docs/tutorial-ros-esm) for a number of ROS 1 host operating systems for a fee.
+While [ROS-O](https://github.com/ros-o/ros-o) is a volunteer run effort to extend the support of ROS 1 projects.
+If you simply need an extra set of hands to help with your migration you are welcome to use our [jobs board](https://discourse.ros.org/c/jobs/15) on ROS Discourse to find some help. 
+
+
+<br>
+
+### What's New in ROS 2?
+
+
+Before you begin your ROS migration journey, we recommend you read up on some the new and improved features in ROS 2. 
+Understanding what has and hasn't changed between ROS 1 and ROS 2 can make the migration process go a lot smoother!
+There's a lot to love in ROS 2, and we think you'll find some of the new ROS 2 features make for a much better user experience.
+We've collected a number of resources together to help you come up to speed with all that ROS 2 has to offer.
+
+
+**Changes to the ROS API** 
+
+Most of the ROS 2 API should look familiar to ROS 1 users with a few notable exceptions. Where things have changed, they have changed to address shortcomings in ROS 1. Users will want to pay attention to the changes to parameters and composable nodes (formerly nodelets) as these are areas that may require more attention.
+
+
+* Nodelets in ROS 1 have been replaced with ROS 2's [composable nodes concept.](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Composition.html) ROS users can now compose their processing routines into the same process space using both compile time and run time composition. 
+* Parameters in ROS 2 now support namespacing, and there is an improved interface for loading, saving, and reconfiguring your parameters. This [migration guide](https://docs.ros.org/en/jazzy/How-To-Guides/Migrating-from-ROS1/Migrating-Parameters.html) provides guidance on how to migrate your parameter set.
+* ROS 2 supports three different types of launch files [YAML, Python, and XML](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Launch/Creating-Launch-Files.html). There is a complete guide to [migrating your ROS 1 launch files](https://docs.ros.org/en/jazzy/How-To-Guides/Migrating-from-ROS1/Migrating-Launch-Files.html) available on docs.ros.org.
+* The ROS 2 [lifecycle node API](https://foxglove.dev/blog/how-to-use-ros2-lifecycle-nodes) has standardized the lifecycle of ROS nodes. The process of starting and stopping ROs Nodes is now much more robust., We recommend taking advantage of this feature when migrating your ROS 1 projects. 
+* ROSBag performance has improved significantly in ROS 2, and new ROS 2 type adaptation makes it even easier to share data using ROS Bags. As of ROS 2 Humble [MCap](https://mcap.dev/guides) is now the standard ROSBag data format.
+* If you are looking for examples of common ROS 2 design patterns the [ROS 2 Cookbook](https://github.com/mikeferguson/ros2_cookbook) offers code samples for common ROS 2 tasks.
+
+<br>
+
+**ROS Development**
+
+The ROS build and command line tools have also gotten a facelift in ROS 2. While there have been a few changes the way you build and run your ROS application should feel familiar. All of our new tools are self documenting, and you should can learn a lot by simply passing them the `--help` command. 
+
+* The [ROS command line interface (CLI)](https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Services/Understanding-ROS2-Services.html) syntax has changed slightly in ROS 2. All your favorite commands are still there, but they syntax has been modernized.
+* ROS 2 has replaced Catkin for [Colcon](https://colcon.readthedocs.io/en/released/user/quick-start.html). The names have changed, but most of your favorite functionality is still there.
+* Ament
+
+<br>
+
+**The ROS Middleware Layer (RMW)**
+
+ROS 1's bespoke publish / subscribe layer was very simple to use, but also extremely difficult to configure for more complex use cases. 
+In ROS 2 users have a choice about which protocol they would like to use to move data across their network.
+This new abstraction layer is called a ROS Middle Layer (RMW), and users can pick the [vendor](https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Different-Middleware-Vendors.html) that best supports their application.
+ROS 2 users now have multiple official and unofficial ROS Middleware (RMWs) to choose from:
+
+* DDS-based RMWs like [Fast-DDS](https://fast-dds.docs.eprosima.com/en/latest/fastdds/ros2/ros2_configure.html) and [Cyclone DDS](https://cyclonedds.io/docs/cyclonedds/latest/about_dds/eclipse_cyclone_dds.html). We recommend new DDS users read our [tuning guide](https://docs.ros.org/en/jazzy/How-To-Guides/DDS-tuning.html) and familiarize themselves with utilities like the [Fast-DDS Discovery Server](https://fast-dds.docs.eprosima.com/en/latest/fastdds/ros2/discovery_server/ros2_discovery_server.html) when using WiFi networks.
+* A preview of [RMW-Zenoh](https://github.com/ros2/rmw_zenoh) is available in ROS 2 Jazzy, and binaries for the new RMW were [are available via apt.](https://discourse.ros.org/t/rmw-zenoh-binaries-for-rolling-jazzy-and-humble/41395) 
+* Other RMWs are supported by the community including [IceOryx2](https://discourse.ros.org/t/rmw-iceoryx2-v0-1-0-release/40996), [Gurum-DDS](https://github.com/ros2/rmw_gurumdds) and even, well, [e-mail](https://discourse.ros.org/t/ros-2-over-email-rmw-email-an-rmw-implementation/22360).
+
+<br>
+
+**Other Topics**
+
+Our sister project Gazebo is also in the process of migraitng to its second major release, and many ROS users are also making the switch to a modern version of Gazebo.
+We're happy to report that ROS 2 and modern Gazebo now work together better than ever! 
+Similarly, hardware interfaces to ROS have been greatly improved with the introduction of a microcontroller framework specifically for ROS called microROS.
+
+* We recommend Gazebo users [migrate their Gazebo simulation to a modern version of Gazebo.](https://gazebosim.org/docs/harmonic/gazebo_classic_migration/)
+* Starting with ROS 2 Iron Irwini, binaries for modern Gazebo are available. ROS 2 / modern Gazebo integration is accomplished using the [`ros_gz` repository](https://github.com/gazebosim/ros_gz)
+* If your robot supports custom hardware, if may be worth investigating [microROS.](https://micro.ros.org/),
+
+
+
+<br>
+
+
+### Where To Find Help
+
+You don't just have to take our word for it, a number of professionl ROS users have already made the jump to ROS 2 and written about their ROS migration experience. 
+We've collected a few relevant blog posts below: 
+
+* [Husarion Blog on ROS 2 Migration](https://medium.com/husarion-blog/porting-a-project-from-ros1-to-ros2-our-experience-ef27b1748915)
+* [ROS 2 Migration Guide using the TurtleBot 2](https://discourse.ros.org/t/migrating-turtlebot-2-to-ros-2/36225)
+* [Robotics Back End Migration Guide](https://roboticsbackend.com/migrate-ros-project-from-ros1-to-ros2/)
+* [ROS Industrial Migration Guide](https://industrial-training-master.readthedocs.io/en/melodic/_source/session7/ROS1-to-ROS2-porting.html)
+
+
+ROSCon is our annual ROS developers conference and in 2024 an overwhelming majority of the talks were about ROS 2. 
+Below you find a coolection ROSCon talks that directly cover the process of migrating from ROS 1 to ROS 2. 
+
+
+* [ROSCon 2022: "Migrating from ROS1 to ROS2 - choosing the right bridge"](https://vimeo.com/showcase/9954564/video/767140113)
+* [ROSCon 2019: "Migrating a large ROS 1 codebase to ROS 2"](https://vimeo.com/378682692)
+* [ROSCon 2019: "Migrating to ROS 2: Advice from Rover Robotics"](https://vimeo.com/378682068)
+* [ROSCon 2019: "Bridging Your Transitions from ROS 1 to ROS 2"](https://vimeo.com/379127737)
+
+
+
+Finally, if you have any questions about ROS 2, please do not hesitate to use the ROS resources listed below. 
+If you run into migration problem that you just can't solve feel free to swing by our Discord server for some advice. 
+The ROS community is always happy to help!
+
+* [Discourse](https://discourse.ros.org/) -- our ROS discussion forum.
+* [ROS Discord](https://discord.com/servers/open-robotics-1077825543698927656) -- our live discussion server.
+* [Robotics Stack Exchange](https://robotics.stackexchange.com/) -- our preferred Q&A forum
+* [Official ROS 2 Documentation](https://docs.ros.org/)
+* [ROS Package API reference](https://docs.ros.org/en/rolling/p/)
+* [ROS Package Index](https://index.ros.org/)
+* [ROS on Docker Hub](https://hub.docker.com/_/ros/)