View source for Advantech Robotic Suite/ros1 bridge


= Introduction =

To port ROS 1 to ROS 2, the ROS 1 Bridge tool can be used. This tool enables message communication between ROS 1 and ROS 2, allowing nodes from ROS 1 to communicate with nodes from ROS 2 and enabling the use of ROS 1 nodes in ROS 2. <br/>
Github: [https://github.com/ros2/ros1_bridge ros1-bridge]

= Prerequisite =
Please make sure that ROS1 and ROS2( [https://www.advantech.com/en/form/11905901-d135-4dc1-a72d-0450b233d62e?callback=2af806b3-06a3-4f48-9edb-555899ff4da6 Advantech Robotic Suite]) have been installed in your environment, for example, ROS1 (Noetic) and ROS2 (Foxy) in Ubuntu 20.04.
= Installation=
<syntaxhighlight lang="bash">$ sudo apt-get install ros-foxy-ros1-bridge</syntaxhighlight>

= How To =

=== Step1: Confrim Converting Message Format ===

You can list all ros1_bridge supported data type by following command to confirm that the data format you want to convert to is supported.

<syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --print-pairs</syntaxhighlight>
[[File:ROS2 Suite ros1-bridge-format.png|ros1-bridge-format]] 

=== Step 2: Run the Dynamic_bridge ===

The <code>dynamic_bridge</code> will watch the available ROS 1 and ROS 2 topics, once a matching topic has been detected it starts to bridge the messages on this topic.

*<span style="font-size:larger;">'''Bidirectional'''</span> 
<syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --bridge-all-topics</syntaxhighlight>

*'''<span style="font-size:larger;">Unidirectional:</span>'''&nbsp;'''<span style="font-size:large;">ROS1 to ROS2&nbsp;</span>''' 
<syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics</syntaxhighlight>

*'''<span style="font-size:larger;">Unidirectional: ROS2 to ROS1&nbsp;</span>''' 
<syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics</syntaxhighlight>

=== Advanced ===
==== Parameter_bridge ====
The <code>parameter_bridge</code> can bridge only selected topics and services by using a YAML file.<br/> For example, only bridge a topic called /chatter [[File:ROS2 Suite ros1-bridge.png|center|900x600px|ROS2 Suite ros1-bridge]] How to use <code>parameter_bridge</code> can refer to [https://github.com/ros2/ros1_bridge#example-4-bridge-only-selected-topics-and-services parameter_bridge]

==== Quality of Service ====

It also can define different Quality of Service(QoS) settings per topic, for instructions on how to do this, please refer to [https://github.com/ros2/ros1_bridge#parametrizing-quality-of-service parametrizing-quality-of-service]

= Notice =

<span style="color:#FF0000;"><big>&nbsp; &nbsp;The ROS1 bridge provides a convenient way to achieve data communication between ROS1 and ROS2. However, it is NOT Recommended to use the bridge in high-frequency or large data scenarios.&nbsp;</big></span><span style="color:#FF0000;"><big>In such cases, it is recommended directly porting your ROS1 node&nbsp;to ROS2 node.</big></span>

You must consider these issues when&nbsp;exchanging&nbsp;ROS1&nbsp;data to ROS2&nbsp;by the ros1 bridge.

*'''Latency :''' The ROS 1 Bridge will perform message format conversion, which can result in latency 
*'''CPU Usage:'''&nbsp;The ROS 1 Bridge will perform message format conversion, which can result in CPU usage. 
*'''Data Lost:''' It may drops message due to the message transmission required by the ROS 1 Bridge. 

Here are some experiences for your reference.

*[https://github.com/ros2/ros1_bridge/issues/369 TF and pointcloud delay] 

:Some users have also mentioned in Github Issues that there are latency issues when using TF or large datasets (such as pointcloud and image). 

*Latency and CPU usage: [https://vimeo.com/767140113 ROSCon'22 - Migrating from ROS1 to ROS2(4:28)] 

:During the ROSCon'22 speech, it was mentioned that using ros1-bridge can cause issues such as high latency and CPU usage. The following chart compares the differences between using and not using ros1-bridge, which clearly shows the difference. For detail please visit the website to watch the speech. 
:[[File:ROS2 Suite ros1-bridge-latency-cpu.png|ros1-bridge-latency-cpu]]