Launching both ROS2 nodes and ROS1 nodes from a single script
Hi,
I am predominately using ROS2 on my system, however, I require to still launch some legacy ROS1 nodes (I am not currently in a position to port them to ROS2). These nodes will communicate over ros1_bridge.
In terms of launching the ROS2 nodes I use ros2 launch
in a dashing shell, and ROS1 nodes I use roslaunch
in a separate melodic shell.
My system requires that the entire system (ROS1 nodes under melodic & ROS2 nodes under dashing) is launchable from a single script.
Is there a way that I can leverage the ROS2 launch system to also launch the conventional ROS1 nodes in a single launch script (or shell script)?
Many Thanks