Can zenoh-plugin-ros1 be used as bridge between ROS1 and ROS2?

[JiaqiangZhang]

Describe the feature

Thanks for the great work!

ros2 package, ros1_bridge provides bidirectional communication between ROS 1 and ROS 2. If I use zenoh-plugin-ros1 combined with zenoh-plugin-dds, does this mean that I could bridge between ROS1 and ROS2?

[yellowhatter]

Hi, @JiaqiangZhang !
Currently no, because ros1 and ros2 use different message encoding. ros2_package's ros1_bridge does transcoding to have compatibility. We had the discussion on that feature in zenoh team, but currently this a future plan preempted by some more prioritized tasks.