From 71a604cda0f1d0a6e9de9b8b0eacd050fee1ae58 Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Tue, 23 Nov 2021 18:17:00 +0300
Subject: [PATCH] Add ROS1 to ROS2 migration guide

---
 doc/MIGRATION_GUIDE.md | 6 ++++++
 1 file changed, 6 insertions(+)
 create mode 100644 doc/MIGRATION_GUIDE.md

diff --git a/doc/MIGRATION_GUIDE.md b/doc/MIGRATION_GUIDE.md
new file mode 100644
index 000000000..c208ee2fa
--- /dev/null
+++ b/doc/MIGRATION_GUIDE.md
@@ -0,0 +1,6 @@
+# Migration Guide from ROS1
+
+* Default C++ standard set to 17
+* CMake version set to 3.5
+* PipelinePlanner's constructor now have a node `rclcpp::Node::SharedPtr` as an argument to load the `PlanningPipeline`'s parameters
+* `Task::loadRobotModel` have a node as a parameter and the user have to call loadRobotModel explicitly otherwise init will throw an exception