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Multisense messages not making it through ros1_bridge

asked 2018-07-18 16:47:48 -0600

calvertdw gravatar image

When I run the ros1_bridge from osrf/ros2:bouncy-ros1-bridge I do not get the mutlisense SL topics on the other side. Only two (that don't even exist on the ROS1 side).

I can visualize the multisense data in Rviz 1 melodic.

Multisense node is publishing from ROS1 indigo on a separate machine.

$ docker run -itP --network="host" osrf/ros2:bouncy-ros1-bridge
$ ROS_MASTER_URI=http://<my_rosmaster>:11311
$ export ROS_IP=<my_host_ip>
$ ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics

From ros2:

$ ros2 topic list
/clock
/parameter_events

From ros1:

$ rostopic list
/multisense/calibration/device_info
...
/multisense/depth
...
/multisense/right/camera_info
...
/multisense/stamped_pps
/multisense/status
/rosout
/rosout_agg
/tf
/tf_static

Thanks!

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What type are the missing topics? Does the ros1_bridge support them (see dynamic_bridge --print-pairs)?

Dirk Thomas gravatar imageDirk Thomas ( 2018-07-18 16:50:42 -0600 )edit

The vast majority of them are standard types, i.e. 'sensor_msgs/Image' (ROS 2) <=> 'sensor_msgs/Image' (ROS 1)

calvertdw gravatar imagecalvertdw ( 2018-07-18 17:07:07 -0600 )edit
1

So the publisher are on the ROS 1 side and you have subscribers on the ROS 2 side? Shouldn't you be using --bridge-all-1to2-topics instead? (Too late, just saw the answer)

Dirk Thomas gravatar imageDirk Thomas ( 2018-07-18 17:22:32 -0600 )edit

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answered 2018-07-18 17:09:44 -0600

calvertdw gravatar image

Pass --bridge-all-1to2-topics instead of --bridge-all-2to1-topics.

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Asked: 2018-07-18 16:47:48 -0600

Seen: 96 times

Last updated: Jul 18 '18