Read ROS1 topics in ROS2

foxy

asked 2022-05-05 07:03:58 -0600

s0nc
35 ●6 ●10 ●11

Hello everyone,

for our current project we have a computer running ROS1 (don't know the actual release) and another computer running ROS2 Foxy Fitzroy. Because we don't have any access to the computer with ROS1 and we have to use ROS2 on all other computers we need to read the topics send by ROS1 in ROS2. For build packages there would be a ROS1 bridge but I did not find any solutions for this.

Is there anyone in the community knowing how to solve this issue? We are grateful for any kinds of help.

Regards, s0nc

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Why doesn't the approach described there https://www.youtube.com/watch?v=4uKWh... (Using the ROS1 Bridge for ROS1-ROS2 communication) work for you? The rosject on their site also seems to be useful. EDIT: Any updates?

ljaniec ( 2022-05-05 07:51:20 -0600 )edit

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answered 2022-05-11 04:23:07 -0600

ljaniec

3064 ●14 ●297 ●50 https://www.linkedin.c...

Approach described there:

https://www.youtube.com/watch?v=4uKWh...

(Using the ROS1 Bridge for ROS1-ROS2 communication) can be used in your case.

From the rosject:

ROS1 Bridge

The ROS1 Bridge package provides several tools in order to allow the communication between ROS1 & ROS2 nodes. This is very useful specially nowadays, when both ROS versions are coexisting and ROS2 is still in a development stage.

Depending on the needs of your project, you might need to enable an specific type of communication. Within this live class we will explore 3 different ways in which we can exchange messages between ROS1 and ROS2:

Dynamic Bridge

Parameter Bridge

Action Bridge

(...)

The rosject on their site also seems to be useful.

ROS 2 package that provides bidirectional communication between ROS 1 and ROS 2: