|
|
| Line 17: |
Line 17: |
| | | | |
| | <syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --print-pairs</syntaxhighlight> | | <syntaxhighlight lang="bash">$ ros2 run ros1_bridge dynamic_bridge --print-pairs</syntaxhighlight> |
| − | | + | [[File:ROS2 Suite ros1-bridge-format.png|ros1-bridge-format]] |
| − | *Supported ROS 2 <=> ROS 1 message type conversion:
| |
| − | | |
| − |
| |
| − | <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>
| |
| − | | |
| | | | |
| | === Step 2: Run the Dynamic_bridge === | | === Step 2: Run the Dynamic_bridge === |
| Line 206: |
Line 28: |
| | <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> |
| | | | |
| − | *'''<span style="font-size:larger;">Unidirectiona:</span>''' '''<span style="font-size:large;">ROS1 to ROS2 </span>''' | + | *'''<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> |
| | | | |
| − | *'''<span style="font-size:larger;">Unidirectiona: ROS2 to ROS1 </span>''' | + | *'''<span style="font-size:larger;">Unidirectional: ROS2 to ROS1 </span>''' |
| | | | |
| | | | |
| Line 235: |
Line 57: |
| | | | |
| | *'''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 & 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. |
| − | *'''Data Lost:''' It may drops message due to the message transmission required by the ROS 1 Bridge. | + | *'''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 example for your reference. |
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
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.
