Combined branch

.github/workflows/main.yml

@@ -0,0 +1,19 @@
+name: CI
+
+on: [push, pull_request] # on all pushes and PRs
+
+jobs:
+  ros1_bridge:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: "noetic rolling"
+      - name: Build and test ros1-bridge
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: ros1_bridge
+          target-ros1-distro: noetic
+          target-ros2-distro: rolling
+

CHANGELOG.rst

@@ -2,6 +2,28 @@
 Changelog for package ros1_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.10.2 (2021-11-05)
+-------------------
+* Example for `parameter_bridge` (`#330 <https://github.com/ros2/ros1_bridge/issues/330>`_)
+* Use rcpputils/scope_exit.hpp instead of rclcpp/scope_exit.hpp (`#324 <https://github.com/ros2/ros1_bridge/issues/324>`_)
+* Use FindPython3 and make Python dependency explicit (`#322 <https://github.com/ros2/ros1_bridge/issues/322>`_)
+* Bump ros-tooling/[email protected] (`#323 <https://github.com/ros2/ros1_bridge/issues/323>`_)
+* Add GitHub workflow for CI (`#310 <https://github.com/ros2/ros1_bridge/issues/310>`_)
+* Update includes after rcutils/get_env.h deprecation (`#311 <https://github.com/ros2/ros1_bridge/issues/311>`_)
+* Contributors: Christophe Bedard, Harsh Deshpande, Loy, Shane Loretz
+
+0.10.1 (2021-01-25)
+-------------------
+* Fix logging for updated rclcpp interface (`#303 <https://github.com/ros2/ros1_bridge/issues/303>`_)
+* Fix typo in comments (`#297 <https://github.com/ros2/ros1_bridge/issues/297>`_)
+* Contributors: Michael Carroll, Vicidel
+
+0.9.5 (2020-12-08)
+------------------
+* Update to use rosidl_parser and .idl files rather than rosidl_adapter and .msg files (`#296 <https://github.com/ros2/ros1_bridge/issues/296>`_)
+* Update maintainers (`#286 <https://github.com/ros2/ros1_bridge/issues/286>`_)
+* Contributors: Jacob Perron, William Woodall
+
 0.9.4 (2020-09-10)
 ------------------
 * use hardcoded QoS (keep all, transient local) for /tf_static topic in dynamic_bridge (`#282 <https://github.com/ros2/ros1_bridge/issues/282>`_)

CMakeLists.txt

@@ -16,6 +16,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(xmlrpcpp REQUIRED)
 
 # find ROS 1 packages
 set(cmake_extras_files cmake/find_ros1_package.cmake cmake/find_ros1_interface_packages.cmake)
@@ -122,9 +123,12 @@ set(target_dependencies
   "resource/pkg_factories.hpp.em"
   "ros1_bridge/__init__.py")
 
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
 add_custom_command(
   OUTPUT ${generated_files}
-  COMMAND ${PYTHON_EXECUTABLE} bin/ros1_bridge_generate_factories
+  COMMAND Python3::Interpreter
+  ARGS bin/ros1_bridge_generate_factories
     --output-path "${generated_path}" --template-dir resource
   DEPENDS ${target_dependencies}
   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
@@ -223,35 +227,44 @@ endif()
 macro(targets)
   set(TEST_BRIDGE_RMW ${rmw_implementation})
 
-  configure_file(
-    test/test_topics_across_dynamic_bridge.py.in
-    test_topics_across_dynamic_bridge${target_suffix}.py.genexp
-    @ONLY
-  )
-  file(GENERATE
-    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
-    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}.py.genexp"
-  )
-  add_launch_test(
-    "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
-    TARGET test_topics_across_dynamic_bridge${target_suffix}
-    ENV RMW_IMPLEMENTATION=${rmw_implementation}
-    TIMEOUT 60)
-
-  configure_file(
-    test/test_services_across_dynamic_bridge.py.in
-    test_services_across_dynamic_bridge${target_suffix}.py.genexp
-    @ONLY
-  )
-  file(GENERATE
-    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
-    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}.py.genexp"
-  )
-  add_launch_test(
-    "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
-    TARGET test_services_across_dynamic_bridge${target_suffix}
-    ENV RMW_IMPLEMENTATION=${rmw_implementation}
-    TIMEOUT 60)
+  list(LENGTH DYNAMIC_BRIDGE_TYPE count)
+  math(EXPR count "${count}-1")
+  foreach(i RANGE ${count})
+    list(GET DYNAMIC_BRIDGE_TYPE ${i} bridge_type)
+    list(GET DYNAMIC_BRIDGE_ARG ${i} bridge_arg)
+    set(TEST_BRIDGE_DYNAMIC_BRIDGE_ARG "${bridge_arg}")
+
+    configure_file(
+      test/test_topics_across_dynamic_bridge.py.in
+      test_topics_across_dynamic_bridge${target_suffix}_${bridge_type}.py.genexp
+      @ONLY
+    )
+    file(GENERATE
+      OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_${bridge_type}_$<CONFIG>.py"
+      INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_${bridge_type}.py.genexp"
+    )
+    add_launch_test(
+      "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_${bridge_type}_$<CONFIG>.py"
+      TARGET test_topics_across_dynamic_bridge${target_suffix}_${bridge_type}
+      ENV RMW_IMPLEMENTATION=${rmw_implementation}
+      TIMEOUT 60)
+
+    configure_file(
+      test/test_services_across_dynamic_bridge.py.in
+      test_services_across_dynamic_bridge${target_suffix}_${bridge_type}.py.genexp
+      @ONLY
+    )
+    file(GENERATE
+      OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_${bridge_type}_$<CONFIG>.py"
+      INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_${bridge_type}.py.genexp"
+    )
+    add_launch_test(
+      "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_${bridge_type}_$<CONFIG>.py"
+      TARGET test_services_across_dynamic_bridge${target_suffix}_${bridge_type}
+      ENV RMW_IMPLEMENTATION=${rmw_implementation}
+      TIMEOUT 60)
+  endforeach()
+
 endmacro()
 
 if(TEST_ROS1_BRIDGE)
@@ -266,6 +279,12 @@ if(TEST_ROS1_BRIDGE)
   set(TEST_BRIDGE_ROS1_CLIENT "$<TARGET_FILE:test_ros1_client>")
   set(TEST_BRIDGE_ROS1_SERVER "$<TARGET_FILE:test_ros1_server>")
 
+  list(APPEND DYNAMIC_BRIDGE_TYPE "st")
+  list(APPEND DYNAMIC_BRIDGE_ARG " ")
+
+  list(APPEND DYNAMIC_BRIDGE_TYPE "mt")
+  list(APPEND DYNAMIC_BRIDGE_ARG "--multi-threads")
+
   call_for_each_rmw_implementation(targets)
 endif()
 

NOTICE.md

@@ -0,0 +1,19 @@
+# Note
+
+This is a fork of the [ros1_bridge repo](https://github.com/ros2/ros1_bridge) containing modifications to support usage with the CARMAPlatform. This repository contains changes to the ros1_bridge source code, All modifications in this repository are licensed under the same Apache License 2.0 as ros1_bridge and all modifications of the source code made will be marked as such in accordance with the terms of the Apache License 2.0. For a list of modifications and their descriptions please see NOTICE.md.
+
+## For developers working in this repository
+
+For any modified file please follow these steps to ensure proper documentation of this modification in compliance with the terms of the Apache License 2.0:
+
+1. Add a comment at the top of any modified file with a high-level description of the modification and date the modification was made.
+2. Add a high-level description and date of the overall modification to the [NOTICE.md](NOTICE.md) file.
+
+## Modifications
+
+- Created develop branch which is built off the foxy branch and contains the following PRs from ros1_bridge which were yet unmerged:
+  - https://github.com/ros2/ros1_bridge/pull/331
+  - https://github.com/ros2/ros1_bridge/pull/315
+  - https://github.com/ros2/ros1_bridge/pull/339
+  - 3/3/2022
+  - Michael McConnell

README.md

@@ -1,5 +1,11 @@
 # Bridge communication between ROS 1 and ROS 2
 
+## NOTE
+
+This is a fork of the [ros1_bridge repo](https://github.com/ros2/ros1_bridge) containing modifications to support usage with the CARMAPlatform. This repository contains changes to the ros1_bridge source code, All modifications in this repository are licensed under the same Apache License 2.0 as ros1_bridge and all modifications of the source code made will be marked as such in accordance with the terms of the Apache License 2.0. For a list of modifications and their descriptions please see [NOTICE.md](NOTICE.md).
+
+## README
+
 This package provides a network bridge which enables the exchange of messages between ROS 1 and ROS 2.
 
 The bridge is currently implemented in C++ as at the time the Python API for ROS 2 had not been developed.
@@ -346,3 +352,120 @@ Launch AddTwoInts client:
 . <ros2-install-dir>/setup.bash
 ros2 run demo_nodes_cpp add_two_ints_client
 ```
+
+## Example 4: bridge only selected topics and services
+This example expands on example 3 by selecting a subset of topics and services to be bridged.
+This is handy when, for example, you have a system that runs most of it's stuff in either ROS 1 or ROS 2 but needs a few nodes from the 'opposite' version of ROS.
+Where the `dynamic_bridge` bridges all topics and service, the `parameter_bridge` uses the ROS 1 parameter server to choose which topics and services are bridged.
+For example, to bridge only eg. the `/chatter` topic and the `/add_two_ints service` from ROS1 to ROS2, create this configuration file, `bridge.yaml`:
+
+```yaml
+topics:
+  -
+    topic: /chatter  # ROS1 topic name
+    type: std_msgs/msg/String  # ROS2 type name
+    queue_size: 1  # For the publisher back to ROS1
+services_1_to_2:
+  -
+    service: /add_two_ints  # ROS1 service name
+    type: example_interfaces/srv/AddTwoInts  # The ROS2 type name
+```
+
+Start a ROS 1 roscore:
+
+```bash
+# Shell A (ROS 1 only):
+. /opt/ros/melodic/setup.bash
+# Or, on OSX, something like:
+# . ~/ros_catkin_ws/install_isolated/setup.bash
+roscore
+```
+
+Then load the bridge.yaml config file and start the talker to publish on the `/chatter` topic:
+
+```bash
+Shell B: (ROS1 only):
+. /opt/ros/melodic/setup.bash
+# Or, on OSX, something like:
+# . ~/ros_catkin_ws/install_isolated/setup.bash
+rosparam load bridge.yaml
+
+rosrun rospy_tutorials talker
+```
+
+```bash
+Shell C: (ROS1 only):
+. /opt/ros/melodic/setup.bash
+# Or, on OSX, something like:
+# . ~/ros_catkin_ws/install_isolated/setup.bash
+
+rosrun roscpp_tutorials add_two_ints_server
+```
+
+Then, in a few ROS 2 terminals:
+
+```bash
+# Shell D:
+. <install-space-with-ros2>/setup.bash
+ros2 run ros1_bridge parameter_bridge
+```
+
+If all is well, the logging shows it is creating bridges for the topic and service and you should be able to call the service and listen to the ROS 1 talker from ROS 2:
+
+```bash
+# Shell E:
+. <install-space-with-ros2>/setup.bash
+ros2 run demo_nodes_cpp listener
+```
+This should start printing text like `I heard: [hello world ...]` with a timestamp.
+
+```bash
+# Shell F:
+. <install-space-with-ros2>/setup.bash
+ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 1, b: 2}"
+```
+If all is well, the output should contain `example_interfaces.srv.AddTwoInts_Response(sum=3)`
+
+### Parametrizing Quality of Service
+An advantage of ROS 2 over ROS 1 is the possibility to define different Quality of Service settings per topic.
+The parameter bridge optionally allows for this as well.
+For some topics, like `/tf_static` this is actually required, as this is a latching topic in ROS 1.
+In ROS 2 with the `parameter_bridge`, this requires that topic to be configured as such:
+
+```yaml
+topics:
+  -
+    topic: /tf_static
+    type: tf2_msgs/msg/TFMessage
+    queue_size: 1
+    qos:
+      history: keep_all
+      durability: transient_local
+```
+
+All other QoS options (as documented here in https://docs.ros.org/en/foxy/Concepts/About-Quality-of-Service-Settings.html) are available:
+
+```yaml
+topics:
+  -
+    topic: /some_ros1_topic
+    type: std_msgs/msg/String
+    queue_size: 1
+    qos:
+      history: keep_last  # OR keep_all, then you can omit `depth` parameter below
+      depth: 10  # Only required when history == keep_last
+      reliability: reliable  # OR best_effort
+      durability: transient_local  # OR volatile
+      deadline:
+          secs: 10
+          nsecs: 2345
+      lifespan:
+          secs: 20
+          nsecs: 3456
+      liveliness: liveliness_system_default  # Values from https://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html, eg. LIVELINESS_AUTOMATIC
+      liveliness_lease_duration:
+          secs: 40
+          nsecs: 5678
+```
+
+Note that the `qos` section can be omitted entirely and options not set are left default.

include/ros1_bridge/bridge.hpp

@@ -104,7 +104,8 @@ create_bridge_from_2_to_1(
   const std::string & ros1_type_name,
   const std::string & ros1_topic_name,
   size_t publisher_queue_size,
-  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr);
+  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr,
+  bool custom_callback_group = false);
 
 Bridge2to1Handles
 create_bridge_from_2_to_1(
@@ -116,7 +117,8 @@ create_bridge_from_2_to_1(
   const std::string & ros1_type_name,
   const std::string & ros1_topic_name,
   size_t publisher_queue_size,
-  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr);
+  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr,
+  bool custom_callback_group = false);
 
 BridgeHandles
 create_bidirectional_bridge(
@@ -125,7 +127,18 @@ create_bidirectional_bridge(
   const std::string & ros1_type_name,
   const std::string & ros2_type_name,
   const std::string & topic_name,
-  size_t queue_size = 10);
+  size_t queue_size = 10,
+  bool custom_callback_group = false);
+
+BridgeHandles
+create_bidirectional_bridge(
+  ros::NodeHandle ros1_node,
+  rclcpp::Node::SharedPtr ros2_node,
+  const std::string & ros1_type_name,
+  const std::string & ros2_type_name,
+  const std::string & topic_name,
+  size_t queue_size,
+  const rclcpp::QoS & publisher_qos);
 
 }  // namespace ros1_bridge