[Discourse.ros.org] [Next Generation ROS] ROS1_bridge in binaries files?

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[Discourse.ros.org] [Next Generation ROS] ROS1_bridge in binaries files?

Dirk Thomas via ros-users


Is there already an ros1_bridge Lib in the beta2 binary-release, which I could direcly use it?





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[Discourse.ros.org] [Next Generation ROS] ROS1_bridge in binaries files?

Dirk Thomas via ros-users


Or another question:
Is there a way to build the ros1_bridge package in windows, and use it to communication bewteen a ROS2_node on windows and a ROS1_node in a linux_virtualbox?
>From what I know now, the building of ros1_bridge package would also require some of the ros1 packages?





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[Discourse.ros.org] [Next Generation ROS] ROS1_bridge in binaries files?

Dirk Thomas via ros-users
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Yes, the binary release contains the `ros1_bridge` package. It is being compiled with a set of common message packages. If you need to support additional messages you need to build the package from source.

In theory yes, you should be able to build the `ros1_bridge` package on Windows. But you will need to build the necessary ROS 1 packages on Windows as well which is certainly not pleasant and well supported. But some users have done that in the past so it should be possible.





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[Discourse.ros.org] [Next Generation ROS] ROS1_bridge in binaries files?

Dirk Thomas via ros-users
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For your situation you may find the following sufficient:

On the windows machine, run only ROS 2 nodes.
On the linux machine, run your ROS 1 nodes, and run the `ros1_bridge` from binaries to talk with the windows machine.

This is a well-supported setup





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[Discourse.ros.org] [Next Generation ROS] ROS1_bridge in binaries files?

Dirk Thomas via ros-users
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Thank you! This is a good solution.
Still, I'm not very sure how does this ros1_bridge work?
Is it a ros2_node that receive messages from a ros1_node and then simultaneously publish them?





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[Discourse.ros.org] [Next Generation ROS] ROS1_bridge in binaries files?

Dirk Thomas via ros-users
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[quote="Kloping, post:5, topic:2380"]
Is it a ros2_node that receive messages from a ros1_node and then simultaneously publish them?
[/quote]

:+1:, the bridge is a process that has a ROS 1 node and a ROS 2 node. It subscribes to topics on both sides and publish them on the other side. The default behavior of the dynamic_bridge is to bridge only topics that have a publisher on one side and a matching subscriber on the other side (for example a ROS1 publisher on "chatter" and a ROS2 subscriber on "chatter"). This behavior can be changed by using the [commandline arguments](https://github.com/ros2/ros1_bridge/blob/cf5108e0bfbf2b414edbd8b82276fb45157e5da9/src/dynamic_bridge.cpp#L83-L95)





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[Discourse.ros.org] [Next Generation ROS] ROS1_bridge in binaries files?

Dirk Thomas via ros-users
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I see, thank you for your answer.
Now I'm trying to implement a graphic interface using Qt for ROS1&2 talker and listener on linux ( select a msg-type then click "publish" or "subscribe" -button that kind of simple GUI).
Using the rclcpp library and std_msg library is straight-forward, but how should I use this "ros1_bridge" library? Is there a document or example codes out there about it?

Thank you!





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[Discourse.ros.org] [Next Generation ROS] ROS1_bridge in binaries files?

Dirk Thomas via ros-users
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The `ros1_bridge` package only generates executables but no libraries at the moment. Therefore you would run the `dynamic_bridge` executable as a separate process. In the future we might provide a library which provides a component which can be dynamically loaded into a component manager to make use of the intra-process communication advantages.

Please see the [README](https://github.com/ros2/ros1_bridge) as well as the [docs](https://github.com/ros2/ros1_bridge/blob/master/doc/index.rst) in the repository for some documention.





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