ros-humble-ros1-bridge-builder

Create a "ros-humble-ros1-bridge" package for augre_msgs that can be used within Ubuntu 22.02 ROS2 Humble.

How to create this builder docker image:

First, clone the repository:

Then, clone any custom messages into ros1_ws and ros2_ws folders within the repository (with their respective ROS versions).

My folders look like: ros1-bridge-augre-msgs -ros1_ws --src ---augre_msgs -ros2_ws --augre_msgs

(NOTE: the file structure is different to download some ROS1 augre_msgs dependencies)

  cd ros1-bridge-augre-msgs

  # By default, ros-tutorals support will be built: (bridging the ros-humble-example-interfaces package)
  docker build . -t ros1-bridge-augre-msgs

How to create ros-humble-ros1-bridge package:

0.) Start from the latest Ubuntu 22.04 ROS 2 Humble Desktop system, create the "ros-humble-ros1-bridge/" ROS2 package:

    cd ~/
    apt update; apt upgrade
    apt -y install ros-humble-desktop
    docker run --rm ros1-bridge-augre-msgs | tar xvzf -

How to use ros-humble-ros1-bridge:

1.) Create an augre docker: https://github.com/UTNuclearRobotics/afc_demos

2.) Start the augre docker

  rocker --x11 --user --home --privileged \
         --volume /dev/shm /dev/shm --network=host -- augre_docker \
         'bash -c "sudo apt update; sudo apt install -y tilix; tilix"'

You may need to install rocker first:

  sudo apt install python3-rocker

Note: It's important to share the host's network and the /dev/shm/ directory with the container.

3.) Then, start "roscore" inside the ROS1 Noetic docker container

  source /opt/ros/noetic/setup.bash
  roscore

4.) Now, from the Ubuntu 22.04 ROS2 Humble system, start the ros1 bridge node.

You will also need to source a workspace with built ROS2 augre_msgs or it won't work.

  source /opt/ros/humble/setup.bash
  source ~/ros-humble-ros1-bridge/install/local_setup.bash
  source ~/ros1-bridge-augre-msgs/ros2_ws/install/setup.bash
  ros2 run ros1_bridge dynamic_bridge

*Note: We need to source local_setup.bash and NOT setup.bash because the bridge was compiled in a docker container that may have different underlay locations. Besides, we don't need to source these underlays in the host system again.

3.) Back to the ROS1 Noetic docker container, run in another terminal tab:

Right now, I've been having to build the afc_ws within the docker container--this should be fixed eventually.

  source /opt/ros/noetic/setup.bash
  source ~/afc_ws/devel/setup.bash
  roslaunch afc_demos full_demo.launch

4.) Finally, from the Ubuntu 22.04 ROS2 Humble system:

  source /opt/ros/humble/setup.bash

And run your corresponding nodes.

References

• https://github.com/ros2/ros1_bridge
• https://github.com/ros2/ros1_bridge/blob/master/doc/index.rst
• https://github.com/smith-doug/ros1_bridge/tree/action_bridge_humble
• https://github.com/mjforan/ros-humble-ros1-bridge
• https://packages.ubuntu.com/jammy/ros-desktop-dev
• https://github.com/TommyChangUMD/ros-humble-ros1-bridge-builder