Readme

This repository provides a modified version of ros1_bridge package, which bridges custom interfaces between ROS 1 & 2. It allows users to get a extremely smooth way to enable the module.

1 To run

The whole module is dockerized. Download docker image by:

docker pull stephenmao0927/ros1_bridge:v1

Run a script to enable the module:

./run_bridge.sh

It will compose a container which will automatically be deleted if you type ctrl+C in terminal to stop the module. If you use it for the first time, it will build ros bridge module and the process will take about 5 minutes.

2 To Customize

Find bridge.yaml in docker folder. Modify the topics you want to transfer between ROS1 and ROS2. Examples are provided in the file.

To set IP address to get the module working properly, find cyclonedds.xml and input the IP address:

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain>
        <General>
            !!!!!!!!!!!!!!!!! PUT YOUR HOST IP ADDRESS HERE !!!!!!!!!!!!!!!!!!
            <DontRoute>true</DontRoute>
        </General>       
    </Domain>
</CycloneDDS> 

3 To be noted

1. The current version of script run_bridge.sh is designed for docker-compose. If you are using docker compose, you will need to make changes.

2. We have a test script which publish a ros2 message. If the bridge works fine, the topic is supposed to be seen by using rostopic commands with ROS 1. To test, enter the docker and run:

   ros2 run my_ros2_pkg my_publisher