Advantech Robotic Suite/ros1 bridge - Revision history

Ray.zheng at 03:08, 5 March 2024

2024-03-05T03:08:06Z

Ray.zheng: Ray.zheng moved page Robotic Dev SDK/ros1 bridge to Advantech Robotic Suite/ros1 bridge

2024-03-05T02:23:10Z

Ray.zheng moved page Robotic Dev SDK/ros1 bridge to Advantech Robotic Suite/ros1 bridge

Ray.zheng at 05:32, 4 January 2024

2024-01-04T05:32:53Z

Ray.zheng at 09:03, 3 January 2024

2024-01-03T09:03:45Z

Ray.zheng: Ray.zheng moved page ROS2 Suite/ros1 bridge to Robotic Dev SDK/ros1 bridge: rename ROS2 suite to Robotic_Dev_SDK

2024-01-03T08:28:03Z

Ray.zheng moved page ROS2 Suite/ros1 bridge to Robotic Dev SDK/ros1 bridge: rename ROS2 suite to Robotic_Dev_SDK

Hank.peng at 05:19, 22 November 2023

2023-11-22T05:19:22Z

Ray.zheng at 03:21, 2 June 2023

2023-06-02T03:21:15Z

Eric.liang: /* Parametrizing Quality of Service */

2023-05-02T03:15:06Z

‎Parametrizing Quality of Service

Eric.liang: /* Notice */

2023-05-02T03:13:40Z

‎Notice

Ray.zheng at 05:09, 27 April 2023

2023-04-27T05:09:26Z

Show changes

@@ Line 6: / Line 6: @@
 = 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 Robotic Development SDK]) have been installed in your environment, for example, ROS1 (Noetic) and ROS2 (Foxy) in Ubuntu 20.04.
+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>

← Older revision		Revision as of 05:32, 4 January 2024
Line 60:		Line 60:
	: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.		: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]]		:[[File:ROS2 Suite ros1-bridge-latency-cpu.png\|ros1-bridge-latency-cpu]]
−
−	~~[[Category:Editor]]~~

@@ Line 6: / Line 6: @@
 = 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 ROS2 Suite]) have been installed in your environment, for example, ROS1 (Noetic) and ROS2 (Foxy) in Ubuntu 20.04.
+Please make sure that ROS1 and ROS2( [https://www.advantech.com/en/form/11905901-d135-4dc1-a72d-0450b233d62e?callback=2af806b3-06a3-4f48-9edb-555899ff4da6 Robotic Development SDK]) 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>

← Older revision		Revision as of 05:19, 22 November 2023
Line 60:		Line 60:
	: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.		: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]]		:[[File:ROS2 Suite ros1-bridge-latency-cpu.png\|ros1-bridge-latency-cpu]]
		+
		+	[[Category:Editor]]

@@ Line 24: / Line 24: @@
 *<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>

← Older revision	Revision as of 02:23, 5 March 2024
(No difference)

← Older revision	Revision as of 08:28, 3 January 2024
(No difference)

@@ Line 42: / Line 42: @@
 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]
-==== Parametrizing Quality of Service ====
+==== 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 =

@@ Line 45: / Line 45: @@
 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 =
-&nbsp;
+<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>
-<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.</big></span>
+You must consider these issues when&nbsp;exchanging&nbsp;ROS1&nbsp;data to ROS2&nbsp;by the ros1 bridge.
-<span style="color:#FF0000;"><big>In such cases, it is recommended directly porting your ROS1 node&nbsp;to ROS2 node.</big></span>
+*'''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 example for your reference.
+Here are some experiences for your reference.
 *[https://github.com/ros2/ros1_bridge/issues/369 TF and pointcloud delay]
@@ Line 68: / Line 66: @@
 :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]]