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How to build ros1_bridge in ros2 with locally defined messages

asked 2017-01-19 16:46:50 -0600

tompe17 gravatar image

The instructions for building ros1_bridge in ros2 says "The bridge will be built with support for any message/service packages that are on your path and have an associated mapping between ROS 1 and ROS 2".

How do I defines this mapping? I want to have support for ROS messages that I have defined myself. But just adding my workspace to the paths (including the basg file as the instructions say) only seem to build for the messages in ROS1 kinetic.

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Do you have equivalent message files in both your ROS1 (catkin) and ROS2 (ament) workspaces?

rohbotics gravatar image rohbotics  ( 2017-01-22 13:02:03 -0600 )edit

No, I have not. So this is probably why it does not work. I thought that the ROS1 messages would automatically be copied to the ROS2. Now it seems I have to duplicate the definition. I will test with copying them to ROS2.

tompe17 gravatar image tompe17  ( 2017-01-23 03:59:18 -0600 )edit

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answered 2017-01-23 08:37:25 -0600

tompe17 gravatar image

The answer is that I have to define the messages in ROS2 also. I thought they were automatically generated so that we do not need to have multiple message files. But that was not a correct assumption.

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Asked: 2017-01-19 16:46:50 -0600

Seen: 318 times

Last updated: Jan 23 '17