You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Jazzy.

Migrating from ROS 1 to ROS 2

These guides show how to convert existing ROS 1 packages to ROS 2. If you are new to porting between ROS 1 and ROS 2, it is recommended to read through the guides in order.

Automatic tools

There are also some automatic conversion tools that exist, though they are not exhaustive: