Multimaster w/ Multicast UDP on ROS1 using ROS2
I am working on a multi-robot environment with exclusively ROS1 nodes. I am planning on switching to ROS2 whenever time allows it to benefit from DDS transport layers.
In the meantime, I would like to use the ROS 1 nodes using ROS2 transport layer for the communications between the robots/master.
- ROS1 nodes running on a master pointing to localhost
- ros1+bridge that bridges the localhost ROS1 and the networked ROS2 on the other side
Would this setup be viable; Anybody tried it?
Any results from your setup? I am looking at ros1<-->ros2Bridge<---->ros2Bridge<-->ros1 to setup a multorobot system and use DDS. It seems like you are trying to do the same thing
Due to time constraints, I did not continue and used multimaster_fkie.