ros-humble-ros1-bridge-builder

Create a "ros-humble-ros1-bridge" package that can be used directly within Ubuntu 22.02 ROS2 Humble.

It takes approximately 10 minutes on my PC, equipped with a 6-core CPU and 24GB of memory.

How to create this builder docker image:

  git clone https://github.com/TommyChangUMD/ros-humble-ros1-bridge-builder.git
  cd ros-humble-ros1-bridge-builder

  # By default, ros-tutorals support will be built: (bridging the ros-humble-example-interfaces package)
  docker build . -t ros-humble-ros1-bridge-builder

  # If you don't want to build ros-tutorals support:
  docker build . --build-arg ADD_ros_tutorials=0 -t ros-humble-ros1-bridge-builder
  
  # If you want to build grid-map support:  (bridging the ros-humble-grid-map package)
  docker build . --build-arg ADD_grid_map=1 -t ros-humble-ros1-bridge-builder

*Note: Since building the docker image just needs docker, you could do this step on any system that has docker installed -- it doesn't have to on a Ubuntu 22.04 and it doesn't need ROS2 neither.

How to create ros-humble-ros1-bridge package:

0.) Start from the latest Ubuntu 22.04 ROS 2 Humble Desktop system, create the "ros-humble-ros1-bridge/" ROS2 package:

    cd ~/
    apt update; apt upgrade
    apt -y install ros-humble-desktop
    docker run --rm ros-humble-ros1-bridge-builder | tar xvzf -

Note1, it's important that you have ros-humble-desktop installed on your ROS2 Humble system because we want to match the builder image as closely as possible.

Note1: There is no compilation at this point, the docker run command simply spits out a pre-compiled tarball. The assumption is that this tarball contains configurations and libraries matching your ROS2 Humble system very closely, although not identical.

Note2: We don't need the builder image anymore, to delete it, do:

    docker rmi ros-humble-ros1-bridge-builder

How to use ros-humble-ros1-bridge:

1.) First start a ROS1 Noetic docker and bring up a GUI terminal, something like:

  rocker --x11 --user --home --privileged \
         --volume /dev/shm /dev/shm --network=host -- osrf/ros:noetic-desktop \
         'bash -c "sudo apt update; sudo apt install -y tilix; tilix"'

You may need to install rocker first:

  sudo apt install python3-rocker

Note: It's important to share the host's network and the /dev/shm/ directory with the container.

2.) Then, start "roscore" inside the ROS1 Noetic docker container

  source /opt/ros/noetic/setup.bash
  roscore

3.) Now, from the Ubuntu 22.04 ROS2 Humble system, start the ros1 bridge node.

  source /opt/ros/humble/setup.bash
  source ~/ros-humble-ros1-bridge/install/local_setup.bash
  ros2 run ros1_bridge dynamic_bridge

*Note: We need to source local_setup.bash and NOT setup.bash because the bridge was compiled in a docker container that may have different underlay locations. Besides, we don't need to source these underlays in the host system again.

3.) Back to the ROS1 Noetic docker container, run in another terminal tab:

  source /opt/ros/noetic/setup.bash
  rosrun rospy_tutorials talker

4.) Finally, from the Ubuntu 22.04 ROS2 Humble system:

  source /opt/ros/humble/setup.bash
  ros2 run demo_nodes_cpp listener

Troubleshoot

Check tf2 message / service

$ ros2 run ros1_bridge dynamic_bridge --print-pairs | grep -i tf2
  - 'tf2_msgs/msg/TF2Error' (ROS 2) <=> 'tf2_msgs/TF2Error' (ROS 1)
  - 'tf2_msgs/msg/TFMessage' (ROS 2) <=> 'tf2_msgs/TFMessage' (ROS 1)
  - 'tf2_msgs/msg/TFMessage' (ROS 2) <=> 'tf/tfMessage' (ROS 1)
  - 'tf2_msgs/srv/FrameGraph' (ROS 2) <=> 'tf2_msgs/FrameGraph' (ROS 1)

Check AddTwoInts message / service

By default, --build-arg ADD_ros_tutorials=1 is implicitly added to the docker build ... command.

Note: In addition, the ROS2 Humble system must have the ros-humble-example-interfaces package installed.

$ sudo apt -y install ros-humble-example-interfaces
$ ros2 run ros1_bridge dynamic_bridge --print-pairs | grep -i addtwoints
  - 'example_interfaces/srv/AddTwoInts' (ROS 2) <=> 'roscpp_tutorials/TwoInts' (ROS 1)
  - 'example_interfaces/srv/AddTwoInts' (ROS 2) <=> 'rospy_tutorials/AddTwoInts' (ROS 1)

Check grid-map message / service

Must have --build-arg ADD_grid_map=1 added to the docker build ... command.

Note: In addition, the ROS2 Humble system must have the ros-humble-grid-map package installed.

$ sudo apt -y install ros-humble-grid-map
$ ros2 run ros1_bridge dynamic_bridge --print-pairs | grep -i grid_map
  - 'grid_map_msgs/msg/GridMap' (ROS 2) <=> 'grid_map_msgs/GridMap' (ROS 1)
  - 'grid_map_msgs/msg/GridMapInfo' (ROS 2) <=> 'grid_map_msgs/GridMapInfo' (ROS 1)
  - 'grid_map_msgs/srv/GetGridMap' (ROS 2) <=> 'grid_map_msgs/GetGridMap' (ROS 1)
  - 'grid_map_msgs/srv/GetGridMapInfo' (ROS 2) <=> 'grid_map_msgs/GetGridMapInfo' (ROS 1)
  - 'grid_map_msgs/srv/ProcessFile' (ROS 2) <=> 'grid_map_msgs/ProcessFile' (ROS 1)
  - 'grid_map_msgs/srv/SetGridMap' (ROS 2) <=> 'grid_map_msgs/SetGridMap' (ROS 1)

TommyChangUMD/ros-humble-ros1-bridge-builder