README.md

ros2_bridge_test

A ROS2 image subscriber for testing ROS2-ROS1 bridge.

*Note: This README assumes you have also cloned the ros_bridge_test repository to your ROS1 workspace.

ROS2-ROS1 Bridge

Make sure you have the ROS2-ROS1 bridge installed, either through a binary installation or a source installation. Follow the steps given in the following documentation to set up the environment needed for the bridge system:- http://ros2docs.org/ros1-bridge/ros1-bridge/

Also make sure that you have not sourced either ROS1 or ROS2 workspaces in your ~/.bashrc as we will switch between them.

*Note : The following README assumes ROS1 distro : 'Melodic' with workspace name : 'catkin_ws' & ROS2 distro : 'Eloquent' with workspace name : 'dev_ws'.

Dependencies

The following package has these dependencies:

• rclcpp
• sensor_msgs
• cv_bridge
• OpenCV (>3.0)

Usage

In separate terminals, source both the distro installations and their overlay workspaces and build both the packages. First in a terminal (Shell A) we will source the ROS1 installation and start up a roscore:

source /opt/ros/melodic/setup.bash
roscore

Then in a second terminal (Shell B), we start the ROS2-ROS1 bridge:

source /opt/ros/melodic/setup.bash
source /opt/ros/eloquent/local_setup.bash
export ROS_MASTER_URI=http://localhost:11311
ros2 run ros1_bridge dynamic_bridge

Now in a third terminal (Shell C), we start up the ROS2 image subscriber:

export ROS_DISTRO=eloquent
source /opt/ros/$ROS_DISTRO/setup.bash
source ~/dev_ws/install/local_setup.bash
cd ~/dev_ws/src/ros2_bridge_test/etc/    # To store images
ros2 run ros2_bridge_test ros2_bridge_test_node

Now in a fourth terminal (Shell D), we start the ROS1 image publisher:

export ROS_DISTRO=melodic
source /opt/ros/$ROS_DISTRO/setup.bash
source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=/home/user/catkin_ws/src:/opt/ros/melodic/share
rosrun ros_bridge_test ros_bridge_test_node

You should see the images getting created in the etc folder of the ROS2 package.