Probably not.
The ticking clock is up and Open Robotics does not officially support ROS 1 anymore.
You have two options from here:
I mean, there's still big companies out there primarily using ROS 1.
You could try ROS 1, but it is only going to get harder from here.
Am I happy with all the design decisions that led to this point?
No, but this hardly seems the venue to discuss it. Oops, I'm out of space.

ros.org