wangwenqiang2019/ros12_bridge

ROS1 wrapper to build and run the ROS2 ros1_bridge

Ros12 Bridge

ros12_bridge is a shim package to help build run and manipulate the ros1_bridge bridge maintained by the OSRF to bridge topics and services between ROS2<=> ROS1

Features

• Shim package native ROS1 package
• Native ros1 tooling
  • Builds with catkin - tested with kinetic/melodic - bouncy/crystal/dashing
  • Depend on other ros1 packages
  • Works with roslaunch
• Automates ROS2 workspace
  • Automatically generate packages, messages and services and mapping
  • Detect changes rebuild if required -> packages and bridge
• Supports using regular expression to whitelist topics/services (you must use this fork until upstream merge is accepted )

Native Usage

The utiltities are modelled as a ros 1 package ros12_bridge

Set the env paths to your ROS1 and ROS2 workspaces

• ROS1_WS_PATH
• ROS2_WS_PATH

eg: export ROS1_WS_PATH=~/ws;export ROS2_WS_PATH=~/ros2_ws

To build the bridge simply catkin build ros12_bridge

This autodetects changes in most files to be sure force a rebuild using cmake flag FORCE_ROS12_REBUILD=ON

eg: catkin build ros12_bridge --cmake-args -DCMAKE_FORCE_ROS12_REBUILD=ON

Remember to unset this flag else it'll add ~8 min to your build time each time.

eg: catkin build ros12_bridge --cmake-args -DCMAKE_FORCE_ROS12_REBUILD=OFF

To run the bridge roslaunch ros12_bridge example.launch

Build and track dependencies

The CMakeLists.txt and package.xml can be modified to ensure your dependency trees are satisfied by catkin before templating and switching into colcon to build ROS2

Modify the pkg_build_config.yaml to add depends you want converted

Note for resource limitation (can result in sneaky internal compiler errors):

Set the MAKEFLAGS to be passed into ROS2 :

eg: export ROS2_MAKEFLAGS=-j2 (j2 is default, ymmv)

Utility tooling

Package Convertor

Generate ROS2 ports for your ros1 packages:

This utility essentially converts and maps your package message and service types to ros2 packages. It also performs some convention conversions between ROS1 and ROS2.

Next the tool builds your ros2 packages and then proceeds builds the ros1_bridge in the ROS2 workspace so that it works with all your message types.

The final output of the utility is a list of compatible ROS1<=> ROS2 types that the bridge is equiped to bridge

• Make sure you have sourced all your ROS1 related workspaces and can see your messages using rosmsg tools.
• DO NOT source your ros2 workspace

Note on converting dependencies:

• In another terminal (with ros2 sourced) run ros2 msg list to see what you need, most common types exist in ROS2
• Make sure you add all your required packages and interdepends in the yaml file. THIS IS YOUR RESPONSIBLITY

Set the env paths to your ROS1 and ROS2 workspaces

• ROS1_WS_PATH
• ROS2_WS_PATH

eg: export ROS1_WS_PATH=~/ws;export ROS2_WS_PATH=~/ros2_ws

Note for resource limitation (can result in sneaky internal compiler errors):

Set the MAKEFLAGS to be passed into ROS2 :

eg: export ROS2_MAKEFLAGS=-j2 (j2 is default, ymmv)

Using a explicit yaml file

./resource/ros2_builder -vv --clean-all --file=convert.yaml

Sample file at: pkg_build_config.yaml.sample

Implicit detection

Alternately we can pick up packages from all sourced ros1 workspaces if they contain the '.genros2' file

./resource/ros2_builder

Misc Opts

• Increase levels of verbosity using :-vv
• Use --help to see other options.

Runner Utilities

This utility helps you run the ros1_bridge to bridge specific topics to ROS2 bidirectionally

Note: At the time of writing this only works for topics not services. Please read the upstream docs for services

• Source only the root ros1 workspace eg: /opt/ros/kinetic/setup.bash This should set the ROS_MASTER_URI , alternatively set it : export ROS_MASTER_URI=http://localhost:11311

Set the env paths to your ROS2 workspaces

• ROS2_WS_PATH (optional: can be passed as a command line arg too)

eg: export ROS2_WS_PATH=~/ros2_ws

Then launch the bridge ./scripts/ros12_bridge --config=topic.yaml --ros2-ws-path=~/ros2_ws

Misc Opts

• Sample file at: config/topic.yaml.sample
• Use --help to see other options.

Authors

• Dhananjay Sathe [email protected]