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| | = Prerequisite = | | = 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 Advantech Robotic Suite]) have been installed in your environment, for example, ROS1 (Noetic) and ROS2 (Foxy) in Ubuntu 20.04. |
| − | = Install ros1-bridge = | + | = Installation= |
| | <syntaxhighlight lang="bash">$ sudo apt-get install ros-foxy-ros1-bridge</syntaxhighlight> | | <syntaxhighlight lang="bash">$ sudo apt-get install ros-foxy-ros1-bridge</syntaxhighlight> |
| | | | |
| | = How To = | | = How To = |
| − | === Supported ROS 2 <=> ROS 1 message and service type === | + | |
| − | First check if the topic type is supported, you can list all ros1_bridge supported type by using following command.
| + | === 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> | | <syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --print-pairs</syntaxhighlight> |
| − | * Supported ROS 2 <=> ROS 1 message type conversion:
| + | [[File:ROS2 Suite ros1-bridge-format.png|ros1-bridge-format]] |
| − | <syntaxhighlight lang="bash">
| |
| − | - 'actionlib_msgs/msg/GoalID' (ROS 2) <=> 'actionlib_msgs/GoalID' (ROS 1)
| |
| − | - 'actionlib_msgs/msg/GoalStatus' (ROS 2) <=> 'actionlib_msgs/GoalStatus' (ROS 1)
| |
| − | - 'actionlib_msgs/msg/GoalStatusArray' (ROS 2) <=> 'actionlib_msgs/GoalStatusArray' (ROS 1)
| |
| − | - 'builtin_interfaces/msg/Duration' (ROS 2) <=> 'std_msgs/Duration' (ROS 1)
| |
| − | - 'builtin_interfaces/msg/Time' (ROS 2) <=> 'std_msgs/Time' (ROS 1)
| |
| − | - 'diagnostic_msgs/msg/DiagnosticArray' (ROS 2) <=> 'diagnostic_msgs/DiagnosticArray' (ROS 1)
| |
| − | - 'diagnostic_msgs/msg/DiagnosticStatus' (ROS 2) <=> 'diagnostic_msgs/DiagnosticStatus' (ROS 1)
| |
| − | - 'diagnostic_msgs/msg/KeyValue' (ROS 2) <=> 'diagnostic_msgs/KeyValue' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/ContactState' (ROS 2) <=> 'gazebo_msgs/ContactState' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/ContactsState' (ROS 2) <=> 'gazebo_msgs/ContactsState' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/LinkState' (ROS 2) <=> 'gazebo_msgs/LinkState' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/LinkStates' (ROS 2) <=> 'gazebo_msgs/LinkStates' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/ModelState' (ROS 2) <=> 'gazebo_msgs/ModelState' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/ModelStates' (ROS 2) <=> 'gazebo_msgs/ModelStates' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/ODEJointProperties' (ROS 2) <=> 'gazebo_msgs/ODEJointProperties' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/ODEPhysics' (ROS 2) <=> 'gazebo_msgs/ODEPhysics' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/PerformanceMetrics' (ROS 2) <=> 'gazebo_msgs/PerformanceMetrics' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/SensorPerformanceMetric' (ROS 2) <=> 'gazebo_msgs/SensorPerformanceMetric' (ROS 1)
| |
| − | - 'gazebo_msgs/msg/WorldState' (ROS 2) <=> 'gazebo_msgs/WorldState' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Accel' (ROS 2) <=> 'geometry_msgs/Accel' (ROS 1)
| |
| − | - 'geometry_msgs/msg/AccelStamped' (ROS 2) <=> 'geometry_msgs/AccelStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/AccelWithCovariance' (ROS 2) <=> 'geometry_msgs/AccelWithCovariance' (ROS 1)
| |
| − | - 'geometry_msgs/msg/AccelWithCovarianceStamped' (ROS 2) <=> 'geometry_msgs/AccelWithCovarianceStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Inertia' (ROS 2) <=> 'geometry_msgs/Inertia' (ROS 1)
| |
| − | - 'geometry_msgs/msg/InertiaStamped' (ROS 2) <=> 'geometry_msgs/InertiaStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Point' (ROS 2) <=> 'geometry_msgs/Point' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Point32' (ROS 2) <=> 'geometry_msgs/Point32' (ROS 1)
| |
| − | - 'geometry_msgs/msg/PointStamped' (ROS 2) <=> 'geometry_msgs/PointStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Polygon' (ROS 2) <=> 'geometry_msgs/Polygon' (ROS 1)
| |
| − | - 'geometry_msgs/msg/PolygonStamped' (ROS 2) <=> 'geometry_msgs/PolygonStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Pose' (ROS 2) <=> 'geometry_msgs/Pose' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Pose2D' (ROS 2) <=> 'geometry_msgs/Pose2D' (ROS 1)
| |
| − | - 'geometry_msgs/msg/PoseArray' (ROS 2) <=> 'geometry_msgs/PoseArray' (ROS 1)
| |
| − | - 'geometry_msgs/msg/PoseStamped' (ROS 2) <=> 'geometry_msgs/PoseStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/PoseWithCovariance' (ROS 2) <=> 'geometry_msgs/PoseWithCovariance' (ROS 1)
| |
| − | - 'geometry_msgs/msg/PoseWithCovarianceStamped' (ROS 2) <=> 'geometry_msgs/PoseWithCovarianceStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Quaternion' (ROS 2) <=> 'geometry_msgs/Quaternion' (ROS 1)
| |
| − | - 'geometry_msgs/msg/QuaternionStamped' (ROS 2) <=> 'geometry_msgs/QuaternionStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Transform' (ROS 2) <=> 'geometry_msgs/Transform' (ROS 1)
| |
| − | - 'geometry_msgs/msg/TransformStamped' (ROS 2) <=> 'geometry_msgs/TransformStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Twist' (ROS 2) <=> 'geometry_msgs/Twist' (ROS 1)
| |
| − | - 'geometry_msgs/msg/TwistStamped' (ROS 2) <=> 'geometry_msgs/TwistStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/TwistWithCovariance' (ROS 2) <=> 'geometry_msgs/TwistWithCovariance' (ROS 1)
| |
| − | - 'geometry_msgs/msg/TwistWithCovarianceStamped' (ROS 2) <=> 'geometry_msgs/TwistWithCovarianceStamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Vector3' (ROS 2) <=> 'geometry_msgs/Vector3' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Vector3Stamped' (ROS 2) <=> 'geometry_msgs/Vector3Stamped' (ROS 1)
| |
| − | - 'geometry_msgs/msg/Wrench' (ROS 2) <=> 'geometry_msgs/Wrench' (ROS 1)
| |
| − | - 'geometry_msgs/msg/WrenchStamped' (ROS 2) <=> 'geometry_msgs/WrenchStamped' (ROS 1)
| |
| − | - 'nav_msgs/msg/GridCells' (ROS 2) <=> 'nav_msgs/GridCells' (ROS 1)
| |
| − | - 'nav_msgs/msg/MapMetaData' (ROS 2) <=> 'nav_msgs/MapMetaData' (ROS 1)
| |
| − | - 'nav_msgs/msg/OccupancyGrid' (ROS 2) <=> 'nav_msgs/OccupancyGrid' (ROS 1)
| |
| − | - 'nav_msgs/msg/Odometry' (ROS 2) <=> 'nav_msgs/Odometry' (ROS 1)
| |
| − | - 'nav_msgs/msg/Path' (ROS 2) <=> 'nav_msgs/Path' (ROS 1)
| |
| − | - 'rcl_interfaces/msg/Log' (ROS 2) <=> 'rosgraph_msgs/Log' (ROS 1)
| |
| − | - 'rosgraph_msgs/msg/Clock' (ROS 2) <=> 'rosgraph_msgs/Clock' (ROS 1)
| |
| − | - 'sensor_msgs/msg/BatteryState' (ROS 2) <=> 'sensor_msgs/BatteryState' (ROS 1)
| |
| − | - 'sensor_msgs/msg/CameraInfo' (ROS 2) <=> 'sensor_msgs/CameraInfo' (ROS 1)
| |
| − | - 'sensor_msgs/msg/ChannelFloat32' (ROS 2) <=> 'sensor_msgs/ChannelFloat32' (ROS 1)
| |
| − | - 'sensor_msgs/msg/CompressedImage' (ROS 2) <=> 'sensor_msgs/CompressedImage' (ROS 1)
| |
| − | - 'sensor_msgs/msg/FluidPressure' (ROS 2) <=> 'sensor_msgs/FluidPressure' (ROS 1)
| |
| − | - 'sensor_msgs/msg/Illuminance' (ROS 2) <=> 'sensor_msgs/Illuminance' (ROS 1)
| |
| − | - 'sensor_msgs/msg/Image' (ROS 2) <=> 'sensor_msgs/Image' (ROS 1)
| |
| − | - 'sensor_msgs/msg/Imu' (ROS 2) <=> 'sensor_msgs/Imu' (ROS 1)
| |
| − | - 'sensor_msgs/msg/JointState' (ROS 2) <=> 'sensor_msgs/JointState' (ROS 1)
| |
| − | - 'sensor_msgs/msg/Joy' (ROS 2) <=> 'sensor_msgs/Joy' (ROS 1)
| |
| − | - 'sensor_msgs/msg/JoyFeedback' (ROS 2) <=> 'sensor_msgs/JoyFeedback' (ROS 1)
| |
| − | - 'sensor_msgs/msg/JoyFeedbackArray' (ROS 2) <=> 'sensor_msgs/JoyFeedbackArray' (ROS 1)
| |
| − | - 'sensor_msgs/msg/LaserEcho' (ROS 2) <=> 'sensor_msgs/LaserEcho' (ROS 1)
| |
| − | - 'sensor_msgs/msg/LaserScan' (ROS 2) <=> 'sensor_msgs/LaserScan' (ROS 1)
| |
| − | - 'sensor_msgs/msg/MagneticField' (ROS 2) <=> 'sensor_msgs/MagneticField' (ROS 1)
| |
| − | - 'sensor_msgs/msg/MultiDOFJointState' (ROS 2) <=> 'sensor_msgs/MultiDOFJointState' (ROS 1)
| |
| − | - 'sensor_msgs/msg/MultiEchoLaserScan' (ROS 2) <=> 'sensor_msgs/MultiEchoLaserScan' (ROS 1)
| |
| − | - 'sensor_msgs/msg/NavSatFix' (ROS 2) <=> 'sensor_msgs/NavSatFix' (ROS 1)
| |
| − | - 'sensor_msgs/msg/NavSatStatus' (ROS 2) <=> 'sensor_msgs/NavSatStatus' (ROS 1)
| |
| − | - 'sensor_msgs/msg/PointCloud' (ROS 2) <=> 'sensor_msgs/PointCloud' (ROS 1)
| |
| − | - 'sensor_msgs/msg/PointCloud2' (ROS 2) <=> 'sensor_msgs/PointCloud2' (ROS 1)
| |
| − | - 'sensor_msgs/msg/PointField' (ROS 2) <=> 'sensor_msgs/PointField' (ROS 1)
| |
| − | - 'sensor_msgs/msg/Range' (ROS 2) <=> 'sensor_msgs/Range' (ROS 1)
| |
| − | - 'sensor_msgs/msg/RegionOfInterest' (ROS 2) <=> 'sensor_msgs/RegionOfInterest' (ROS 1)
| |
| − | - 'sensor_msgs/msg/RelativeHumidity' (ROS 2) <=> 'sensor_msgs/RelativeHumidity' (ROS 1)
| |
| − | - 'sensor_msgs/msg/Temperature' (ROS 2) <=> 'sensor_msgs/Temperature' (ROS 1)
| |
| − | - 'sensor_msgs/msg/TimeReference' (ROS 2) <=> 'sensor_msgs/TimeReference' (ROS 1)
| |
| − | - 'shape_msgs/msg/Mesh' (ROS 2) <=> 'shape_msgs/Mesh' (ROS 1)
| |
| − | - 'shape_msgs/msg/MeshTriangle' (ROS 2) <=> 'shape_msgs/MeshTriangle' (ROS 1)
| |
| − | - 'shape_msgs/msg/Plane' (ROS 2) <=> 'shape_msgs/Plane' (ROS 1)
| |
| − | - 'shape_msgs/msg/SolidPrimitive' (ROS 2) <=> 'shape_msgs/SolidPrimitive' (ROS 1)
| |
| − | - 'std_msgs/msg/Bool' (ROS 2) <=> 'std_msgs/Bool' (ROS 1)
| |
| − | - 'std_msgs/msg/Byte' (ROS 2) <=> 'std_msgs/Byte' (ROS 1)
| |
| − | - 'std_msgs/msg/ByteMultiArray' (ROS 2) <=> 'std_msgs/ByteMultiArray' (ROS 1)
| |
| − | - 'std_msgs/msg/Char' (ROS 2) <=> 'std_msgs/Char' (ROS 1)
| |
| − | - 'std_msgs/msg/ColorRGBA' (ROS 2) <=> 'std_msgs/ColorRGBA' (ROS 1)
| |
| − | - 'std_msgs/msg/Empty' (ROS 2) <=> 'std_msgs/Empty' (ROS 1)
| |
| − | - 'std_msgs/msg/Float32' (ROS 2) <=> 'std_msgs/Float32' (ROS 1)
| |
| − | - 'std_msgs/msg/Float32MultiArray' (ROS 2) <=> 'std_msgs/Float32MultiArray' (ROS 1)
| |
| − | - 'std_msgs/msg/Float64' (ROS 2) <=> 'std_msgs/Float64' (ROS 1)
| |
| − | - 'std_msgs/msg/Float64MultiArray' (ROS 2) <=> 'std_msgs/Float64MultiArray' (ROS 1)
| |
| − | - 'std_msgs/msg/Header' (ROS 2) <=> 'std_msgs/Header' (ROS 1)
| |
| − | - 'std_msgs/msg/Int16' (ROS 2) <=> 'std_msgs/Int16' (ROS 1)
| |
| − | - 'std_msgs/msg/Int16MultiArray' (ROS 2) <=> 'std_msgs/Int16MultiArray' (ROS 1)
| |
| − | - 'std_msgs/msg/Int32' (ROS 2) <=> 'std_msgs/Int32' (ROS 1)
| |
| − | - 'std_msgs/msg/Int32MultiArray' (ROS 2) <=> 'std_msgs/Int32MultiArray' (ROS 1)
| |
| − | - 'std_msgs/msg/Int64' (ROS 2) <=> 'std_msgs/Int64' (ROS 1)
| |
| − | - 'std_msgs/msg/Int64MultiArray' (ROS 2) <=> 'std_msgs/Int64MultiArray' (ROS 1)
| |
| − | - 'std_msgs/msg/Int8' (ROS 2) <=> 'std_msgs/Int8' (ROS 1)
| |
| − | - 'std_msgs/msg/Int8MultiArray' (ROS 2) <=> 'std_msgs/Int8MultiArray' (ROS 1)
| |
| − | - 'std_msgs/msg/MultiArrayDimension' (ROS 2) <=> 'std_msgs/MultiArrayDimension' (ROS 1)
| |
| − | - 'std_msgs/msg/MultiArrayLayout' (ROS 2) <=> 'std_msgs/MultiArrayLayout' (ROS 1)
| |
| − | - 'std_msgs/msg/String' (ROS 2) <=> 'std_msgs/String' (ROS 1)
| |
| − | - 'std_msgs/msg/UInt16' (ROS 2) <=> 'std_msgs/UInt16' (ROS 1)
| |
| − | - 'std_msgs/msg/UInt16MultiArray' (ROS 2) <=> 'std_msgs/UInt16MultiArray' (ROS 1)
| |
| − | - 'std_msgs/msg/UInt32' (ROS 2) <=> 'std_msgs/UInt32' (ROS 1)
| |
| − | - 'std_msgs/msg/UInt32MultiArray' (ROS 2) <=> 'std_msgs/UInt32MultiArray' (ROS 1)
| |
| − | - 'std_msgs/msg/UInt64' (ROS 2) <=> 'std_msgs/UInt64' (ROS 1)
| |
| − | - 'std_msgs/msg/UInt64MultiArray' (ROS 2) <=> 'std_msgs/UInt64MultiArray' (ROS 1)
| |
| − | - 'std_msgs/msg/UInt8' (ROS 2) <=> 'std_msgs/UInt8' (ROS 1)
| |
| − | - 'std_msgs/msg/UInt8MultiArray' (ROS 2) <=> 'std_msgs/UInt8MultiArray' (ROS 1)
| |
| − | - 'stereo_msgs/msg/DisparityImage' (ROS 2) <=> 'stereo_msgs/DisparityImage' (ROS 1)
| |
| − | - 'tf2_msgs/msg/TF2Error' (ROS 2) <=> 'tf2_msgs/TF2Error' (ROS 1)
| |
| − | - 'tf2_msgs/msg/TFMessage' (ROS 2) <=> 'tf2_msgs/TFMessage' (ROS 1)
| |
| − | - 'tf2_msgs/msg/TFMessage' (ROS 2) <=> 'tf/tfMessage' (ROS 1)
| |
| − | - 'trajectory_msgs/msg/JointTrajectory' (ROS 2) <=> 'trajectory_msgs/JointTrajectory' (ROS 1)
| |
| − | - 'trajectory_msgs/msg/JointTrajectoryPoint' (ROS 2) <=> 'trajectory_msgs/JointTrajectoryPoint' (ROS 1)
| |
| − | - 'trajectory_msgs/msg/MultiDOFJointTrajectory' (ROS 2) <=> 'trajectory_msgs/MultiDOFJointTrajectory' (ROS 1)
| |
| − | - 'trajectory_msgs/msg/MultiDOFJointTrajectoryPoint' (ROS 2) <=> 'trajectory_msgs/MultiDOFJointTrajectoryPoint' (ROS 1)
| |
| − | - 'visualization_msgs/msg/ImageMarker' (ROS 2) <=> 'visualization_msgs/ImageMarker' (ROS 1)
| |
| − | - 'visualization_msgs/msg/InteractiveMarker' (ROS 2) <=> 'visualization_msgs/InteractiveMarker' (ROS 1)
| |
| − | - 'visualization_msgs/msg/InteractiveMarkerControl' (ROS 2) <=> 'visualization_msgs/InteractiveMarkerControl' (ROS 1)
| |
| − | - 'visualization_msgs/msg/InteractiveMarkerFeedback' (ROS 2) <=> 'visualization_msgs/InteractiveMarkerFeedback' (ROS 1)
| |
| − | - 'visualization_msgs/msg/InteractiveMarkerInit' (ROS 2) <=> 'visualization_msgs/InteractiveMarkerInit' (ROS 1)
| |
| − | - 'visualization_msgs/msg/InteractiveMarkerPose' (ROS 2) <=> 'visualization_msgs/InteractiveMarkerPose' (ROS 1)
| |
| − | - 'visualization_msgs/msg/InteractiveMarkerUpdate' (ROS 2) <=> 'visualization_msgs/InteractiveMarkerUpdate' (ROS 1)
| |
| − | - 'visualization_msgs/msg/Marker' (ROS 2) <=> 'visualization_msgs/Marker' (ROS 1)
| |
| − | - 'visualization_msgs/msg/MarkerArray' (ROS 2) <=> 'visualization_msgs/MarkerArray' (ROS 1)
| |
| − | - 'visualization_msgs/msg/MenuEntry' (ROS 2) <=> 'visualization_msgs/MenuEntry' (ROS 1)
| |
| − | </syntaxhighlight>
| |
| − | * Supported ROS 2 <=> ROS 1 service type conversion:
| |
| − | <syntaxhighlight lang="bash">
| |
| − | - 'diagnostic_msgs/srv/AddDiagnostics' (ROS 2) <=> 'diagnostic_msgs/AddDiagnostics' (ROS 1)
| |
| − | - 'diagnostic_msgs/srv/SelfTest' (ROS 2) <=> 'diagnostic_msgs/SelfTest' (ROS 1)
| |
| − | - 'example_interfaces/srv/AddTwoInts' (ROS 2) <=> 'roscpp_tutorials/TwoInts' (ROS 1)
| |
| − | - 'example_interfaces/srv/AddTwoInts' (ROS 2) <=> 'rospy_tutorials/AddTwoInts' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/BodyRequest' (ROS 2) <=> 'gazebo_msgs/BodyRequest' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/DeleteLight' (ROS 2) <=> 'gazebo_msgs/DeleteLight' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/DeleteModel' (ROS 2) <=> 'gazebo_msgs/DeleteModel' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/GetJointProperties' (ROS 2) <=> 'gazebo_msgs/GetJointProperties' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/GetLightProperties' (ROS 2) <=> 'gazebo_msgs/GetLightProperties' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/GetLinkProperties' (ROS 2) <=> 'gazebo_msgs/GetLinkProperties' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/GetLinkState' (ROS 2) <=> 'gazebo_msgs/GetLinkState' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/GetModelProperties' (ROS 2) <=> 'gazebo_msgs/GetModelProperties' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/GetModelState' (ROS 2) <=> 'gazebo_msgs/GetModelState' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/GetPhysicsProperties' (ROS 2) <=> 'gazebo_msgs/GetPhysicsProperties' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/GetWorldProperties' (ROS 2) <=> 'gazebo_msgs/GetWorldProperties' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/JointRequest' (ROS 2) <=> 'gazebo_msgs/JointRequest' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/SetJointProperties' (ROS 2) <=> 'gazebo_msgs/SetJointProperties' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/SetJointTrajectory' (ROS 2) <=> 'gazebo_msgs/SetJointTrajectory' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/SetLinkProperties' (ROS 2) <=> 'gazebo_msgs/SetLinkProperties' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/SetLinkState' (ROS 2) <=> 'gazebo_msgs/SetLinkState' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/SetModelConfiguration' (ROS 2) <=> 'gazebo_msgs/SetModelConfiguration' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/SetModelState' (ROS 2) <=> 'gazebo_msgs/SetModelState' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/SetPhysicsProperties' (ROS 2) <=> 'gazebo_msgs/SetPhysicsProperties' (ROS 1)
| |
| − | - 'gazebo_msgs/srv/SpawnModel' (ROS 2) <=> 'gazebo_msgs/SpawnModel' (ROS 1)
| |
| − | - 'nav_msgs/srv/GetMap' (ROS 2) <=> 'nav_msgs/GetMap' (ROS 1)
| |
| − | - 'nav_msgs/srv/GetPlan' (ROS 2) <=> 'nav_msgs/GetPlan' (ROS 1)
| |
| − | - 'nav_msgs/srv/SetMap' (ROS 2) <=> 'nav_msgs/SetMap' (ROS 1)
| |
| − | - 'sensor_msgs/srv/SetCameraInfo' (ROS 2) <=> 'sensor_msgs/SetCameraInfo' (ROS 1)
| |
| − | - 'std_srvs/srv/Empty' (ROS 2) <=> 'std_srvs/Empty' (ROS 1)
| |
| − | - 'std_srvs/srv/SetBool' (ROS 2) <=> 'std_srvs/SetBool' (ROS 1)
| |
| − | - 'std_srvs/srv/Trigger' (ROS 2) <=> 'std_srvs/Trigger' (ROS 1)
| |
| − | - 'tf2_msgs/srv/FrameGraph' (ROS 2) <=> 'tf2_msgs/FrameGraph' (ROS 1)
| |
| − | </syntaxhighlight>
| |
| | | | |
| − | === Dynamic_bridge === | + | === 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. | + | |
| − | *Bidirectional bridge between ROS1 and ROS2 | + | 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> | | <syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --bridge-all-topics</syntaxhighlight> |
| − | *ROS1 to ROS2 bridge | + | |
| | + | *'''<span style="font-size:larger;">Unidirectional:</span>''' '''<span style="font-size:large;">ROS1 to ROS2 </span>''' |
| | <syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics</syntaxhighlight> | | <syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics</syntaxhighlight> |
| − | *ROS2 to ROS1 bridge | + | |
| | + | *'''<span style="font-size:larger;">Unidirectional: ROS2 to ROS1 </span>''' |
| | <syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics</syntaxhighlight> | | <syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics</syntaxhighlight> |
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| − | === Parameter_bridge === | + | === Advanced === |
| − | The <code>parameter_bridge</code> can bridge only selected topics and services by using a YAML file. <br/> | + | ==== Parameter_bridge ==== |
| − | For example, only bridge a topic called /chatter | + | 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] |
| − | [[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 ==== |
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| − | === Parametrizing 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] | | 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] |
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| | = Notice = | | = Notice = |
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| − |
| + | <span style="color:#FF0000;"><big> 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><span style="color:#FF0000;"><big>In such cases, it is recommended directly porting your ROS1 node to ROS2 node.</big></span> |
| − | | |
| − | <span style="color:#FF0000;"><big> 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. In such cases, it is recommended to directly port the ROS1 code to the ROS2 code.</big></span> | |
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| − | Here are some When using the ROS1 bridge, you must consider the following issues. These issues should be taken into account, and optimization and debugging should be carried out according to specific situations to ensure system stability and performance. | + | You must consider these issues when exchanging ROS1 data to ROS2 by the ros1 bridge. |
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| − | *'''Latency & CPU Usage:''' Since the message formats of ROS 1 and ROS 2 are different, the ROS 1 Bridge will perform message format conversion, which can result in latency and CPU usage. | + | *'''Latency :''' The ROS 1 Bridge will perform message format conversion, which can result in latency |
| − | *'''Data Lost:''' It may drops message due to the message transmission required by the ROS 1 Bridge. | + | *'''CPU Usage:''' 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. |
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| − | Here are some example for your reference. | + | Here are some experiences for your reference. |
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| | *[https://github.com/ros2/ros1_bridge/issues/369 TF and pointcloud delay] | | *[https://github.com/ros2/ros1_bridge/issues/369 TF and pointcloud delay] |
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| | :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]] |
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| − | [[Category:Editor]]
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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.
Github: ros1-bridge
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.
can bridge only selected topics and services by using a YAML file.
It also can define different Quality of Service(QoS) settings per topic, for instructions on how to do this, please refer to parametrizing-quality-of-service
You must consider these issues when exchanging ROS1 data to ROS2 by the ros1 bridge.
