ros2-ros1-bridge.md

ROS2-ROS1 Bridge Installation & Test Guide

Author : GWANJUN SHIN

After install ros1 & ros2, we've to establish inter connection solution called /ros1_bridge dynamic_bridge

Pre-condition

0. You need to finish ROS1 & ROS2 Install via index.ros.org
1. our development environment is based on Ubuntu 18.04 LTS
2. Install bridge package by sudo apt install ros-dashing-ros1-bridge

Add short command to activate ros1 or ros2 (optional)

echo "alias start_ros1='source /opt/ros/melodic/setup.bash'" >> ~/.bashrc
echo "alias start_ros2='source /opt/ros/dashing/setup.bash'" >> ~/.bashrc

Now you can activate ros1 or ros2 without sourcing. Just type start_ros1 or start_ros2!
Remember for applying changes of bashrc, open new terminal or type source ~/.bashrc

Type these commands manually (works everytime)

start_ros1 or source /opt/ros/melodic/setup.bash
roscore 종료하지 말기
다른 터미널 실행!
start_ros1
start_ros2 or source /opt/ros/dashing/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics

잠깐! 같은 터미널에서 두개의 환경을 왜 나란히 쳐요? --> ros1_bridge 패키지 안에는 ros1과 2를 둘다 사용하기 때문에 나란히 실행하는 걸 추천합니다.

note that melodic is stand for ros1 and dashing is stand for ros2

Test

ROS2 for broadcasting Webcam feed, ROS1 for visualizing

ros2 run ros1_bridge dynamic_bridge --bridge-all-topics You can pass if you already execute this. ros2 run image_tools cam2image
다른 터미널 실행 후 멜로딕
rviz and add topic image

Tip : You can try vice versa