Strategy to upgrade some packages from autoware.ai to autoware.auto?

[felixf4xu]

Hi,

I have a working demo project based on autoware.ai, about 8 packages listed on runtime manager are required to run the demo.

I would like to get some comment for my situation to upgrade from autoware.ai to autoware.auto.

To be more specific:

1. I use ndt_mapping and ndt_matching (both are old package names in autoware.ai). I'm not sure if they are renamed or dropped in autoware.auto. If I plan to continue to use them, do I need to upgrade them? or they are actually obsolete and replaced by better working packages?

2. Runtime Manager. I don't find it in autoware.auto at least in the planning_simulation demo. What's the plan for it?

Then a general question: what's the suggested direction for my case? If I decide to upgrade some packages, will they be accepted into autoware.universe?

[felixf4xu]

I'm reading https://autoware.org/past-present-and-the-future-of-autoware/ and it says

it was decided to avoid simply porting Autoware.AI from ROS1 to ROS2

I understand the reasons, but it also puts current running autoware.ai demos to an embarrassing situation: a step-by-step upgrading is not possible. A working demo, even based on autoware, costs months if not years of engineering time, it's very hard to decide to do it again with autoware.auto, it's also very hard to stay with autoware.ai because its development community is shrinking.

My current plan is to have a try to see how hard it is to just port autoware.ai (only packages used in my demo) to ros2, but I'm not sure if it will be a waste of time.

I would like to see some suggestions.