During the migration process from ROS 2 Foxy to ROS 2 Humble, I identified several issues that required adjustments to existing packages. This issue is intended to document these problems and the solutions adopted to address them.

Identified Issues:

• Obsolete Dependencies: Some packages in ROS 2 Foxy relied on dependencies that were no longer supported in ROS 2 Humble, resulting in build errors when building the workspace with colcon. The main errors were related to ros2-control and its dependencies, requiring reinstallation.

Note: Performing sudo apt update and sudo apt upgrade when installing such packages, as well as sourcing the workspace, can help avoid major headaches.

• Environment Configuration Changes: The environment configurations required for compiling and running the packages were altered between ROS 2 versions, necessitating updates to scripts and configuration files. For example, there's no longer a need to use the ".py" extension when executing the launch command in the terminal, and the same applies to the internal content of the launch script, launch.py.