For People In A Hurry: Setting up ros1_bridge for ROS2 <=> ROS1 Communication [Ubuntu 20.04]

README.md

For People In A Hurry: Setting up ros1_bridge in ROS2 [Ubuntu 20.04]

TLDR: This is a set of instructions to help set up necessary ROS2 packages in order to run ros1_bridge.

Why?

ros1_bridge allows nodal communication between ROS1 and ROS2 packages, providing higher flexibility in setting up an overall ROS system.

Dependencies

1. Ubuntu 20.04 Focal Fossa ( Operating System )
2. ROS2 Foxy Fitzroy ( ROS2 )
3. ROS1 Noetic Ninjemys (ROS1)

Setup

1. Download the following 2 ROS2 packages: . ros1_bridge . image_transport_plugins

cd $HOME
mkdir -p ~/ros1_bridge_ws/src
cd ~/ros1_bridge_ws/src
git clone https://github.com/ros2/ros1_bridge.git --branch foxy --single-branch --depth 1

2. Build the packages:

cd ~/ros1_bridge_ws
source /opt/ros/noetic/setup.bash
source /opt/ros/foxy/setup.bash
colcon build --symlink-install --packages-select ros1_bridge

Run

cd ~/ros1_bridge_ws
source install/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics

References

1. ros2/ros1_bridge - https://github.com/ros2/ros1_bridge