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Support tf_static 2to1 #424

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Support tf_static 2to1 #424

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2a05b49
0.9.7
quarkytale May 27, 2023
45dd0d1
Add qos rules for tf_static topic
pawelirh Oct 24, 2023
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4 changes: 2 additions & 2 deletions CHANGELOG.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@
Changelog for package ros1_bridge
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Forthcoming
-----------
0.9.7 (2023-05-27)
------------------
* remove xmlrpcpp from package.xml (`#406 <https://github.com/ros2/ros1_bridge/issues/406>`_)
* Parametrization of `parameter_bridge` quality of service [Port of the commits (ec44770) and (86b4245) to foxy branch] (`#401 <https://github.com/ros2/ros1_bridge/issues/401>`_)
* Contributors: Dharini Dutia, Lucyanno Frota
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1 change: 1 addition & 0 deletions include/ros1_bridge/bridge.hpp
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Expand Up @@ -116,6 +116,7 @@ create_bridge_from_2_to_1(
const std::string & ros1_type_name,
const std::string & ros1_topic_name,
size_t publisher_queue_size,
bool publisher_latch,
rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr);

BridgeHandles
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2 changes: 1 addition & 1 deletion package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ros1_bridge</name>
<version>0.9.6</version>
<version>0.9.7</version>
<description>A simple bridge between ROS 1 and ROS 2</description>
<maintainer email="[email protected]">Dirk Thomas</maintainer>
<license>Apache License 2.0</license>
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5 changes: 4 additions & 1 deletion src/bridge.cpp
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Expand Up @@ -79,6 +79,7 @@ create_bridge_from_2_to_1(
rclcpp::PublisherBase::SharedPtr ros2_pub)
{
auto subscriber_qos = rclcpp::SensorDataQoS(rclcpp::KeepLast(subscriber_queue_size));
auto publisher_latch = false;
return create_bridge_from_2_to_1(
ros2_node,
ros1_node,
Expand All @@ -88,6 +89,7 @@ create_bridge_from_2_to_1(
ros1_type_name,
ros1_topic_name,
publisher_queue_size,
publisher_latch,
ros2_pub);
}

Expand All @@ -101,11 +103,12 @@ create_bridge_from_2_to_1(
const std::string & ros1_type_name,
const std::string & ros1_topic_name,
size_t publisher_queue_size,
bool publisher_latch,
rclcpp::PublisherBase::SharedPtr ros2_pub)
{
auto factory = get_factory(ros1_type_name, ros2_type_name);
auto ros1_pub = factory->create_ros1_publisher(
ros1_node, ros1_topic_name, publisher_queue_size);
ros1_node, ros1_topic_name, publisher_queue_size, publisher_latch);

auto ros2_sub = factory->create_ros2_subscriber(
ros2_node, ros2_topic_name, subscriber_qos, ros1_pub, ros2_pub);
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13 changes: 11 additions & 2 deletions src/dynamic_bridge.cpp
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Expand Up @@ -254,11 +254,20 @@ void update_bridge(
bridge.ros1_type_name = ros1_type_name;
bridge.ros2_type_name = ros2_type_name;

auto ros2_subscriber_qos = rclcpp::QoS(rclcpp::KeepLast(10));
auto ros_publisher_latch = false;
if (topic_name == "/tf_static") {
ros2_subscriber_qos.keep_all();
ros2_subscriber_qos.transient_local();
ros2_subscriber_qos.reliable();
ros_publisher_latch = true;
}

try {
bridge.bridge_handles = ros1_bridge::create_bridge_from_2_to_1(
ros2_node, ros1_node,
bridge.ros2_type_name, topic_name, 10,
bridge.ros1_type_name, topic_name, 10);
bridge.ros2_type_name, topic_name, ros2_subscriber_qos,
bridge.ros1_type_name, topic_name, 10, ros_publisher_latch);
} catch (std::runtime_error & e) {
fprintf(
stderr,
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