# 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