TLDR
: This is a set of instructions to help set up necessary ROS2 packages in order to run ros1_bridge
.
ros1_bridge
allows nodal communication between ROS1 and ROS2 packages, providing higher flexibility in setting up an overall ROS system.
- Ubuntu
20.04
Focal Fossa ( Operating System ) - ROS2
Foxy Fitzroy
( ROS2 ) - ROS1
Noetic Ninjemys
(ROS1)
- 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
- 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
cd ~/ros1_bridge_ws
source install/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
- ros2/ros1_bridge - https://github.com/ros2/ros1_bridge