Difference between revisions of "Advantech Robotic Suite/ros1 bridge"

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Therefore, when using the ROS 1 Bridge to port ROS 1 to ROS 2, 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.
 
Therefore, when using the ROS 1 Bridge to port ROS 1 to ROS 2, 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.
 +
 +
* 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 point clouds).
 +
:[https://github.com/ros2/ros1_bridge/issues/369 TF and pointcloud delay]
  
 
* Latency and cpu usage
 
* Latency and cpu usage
 
: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 disparity. If interested, please visit the website to watch the speech. [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 disparity. If interested, please visit the website to watch the speech. [https://vimeo.com/767140113 ROSCon'22-Migrating from ROS1 to ROS2(4:28)]
 
:[[File:ROS2 Suite ros1-bridge-latency-cpu.png|ros1-bridge-latency-cpu]]
 
:[[File:ROS2 Suite ros1-bridge-latency-cpu.png|ros1-bridge-latency-cpu]]
−
* 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 point clouds).
 
−
:[https://github.com/ros2/ros1_bridge/issues/369 TF and pointcloud delay]
 
  
 
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Revision as of 10:28, 25 April 2023

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.
Github: ros1-bridge

 

How To

Install

1. Install ros1(noetic) and ros2(foxy) on ubuntu 20.04.
2. Install ros1-bridge. 

$ sudo apt-get install ros-foxy-ros1-bridge

Instructions

Dynamic_bridge

The dynamic_bridge 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.

  • If you want to establish a bidirectional bridge between ROS1 and ROS2, you can use bridge-all-topics
$ ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
  • If you only want to establish ROS1 to ROS2 bridge, you can use bridge-all-1to2-topics
$ ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
  • If you only want to establish ROS2 to ROS1 bridge, you can use bridge-all-2to1-topics
$ ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics

Parameter_bridge

The parameter_bridge can bridge only selected topics and services by using a YAML file.
For example, only bridge a topic called chatter.

ROS2 Suite ros1-bridge

How to use parameter_bridge can refer to parameter_bridge

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 parametrizing-quality-of-service

Supported ROS 2 <=> ROS 1 message and service type

You can list all ros1_bridge supported type by using following command. 

$ ros2 run ros1_bridge dynamic_bridge --print-pairs
  • Supported ROS 2 <=> ROS 1 message type conversion:
  - '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)
  • Supported ROS 2 <=> ROS 1 service type conversion
  - '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)

Issue

However, using the ROS 1 Bridge can also bring some issues. First, since the message formats of ROS 1 and ROS 2 are different, the ROS 1 Bridge needs to perform message format conversion, which can result in latency and CPU usage. Second, message drops may occur due to the message transmission required by the ROS 1 Bridge.

Therefore, when using the ROS 1 Bridge to port ROS 1 to ROS 2, 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.

  • 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 point clouds).
TF and pointcloud delay
  • Latency and cpu usage
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 disparity. If interested, please visit the website to watch the speech. ROSCon'22-Migrating from ROS1 to ROS2(4:28)
ros1-bridge-latency-cpu

In conclusion, 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 dataset scenarios. In such cases, it is recommended to directly port the ROS1 code to the ROS2 code.

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