🌉ROS1_bridge

The ros1_bridge package allows for communication between ROS1 and ROS2 systems. This task involves setting up the bridge to relay topics from ROS1 Noetic to ROS2 Foxy.

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The image shows the following:

1. Terminal 1: ROS1 nodes running and receiving messages from the ROS2 bridge.
2. Terminal 2: ROS2 bridge running and handling the messages.
3. Terminal 3: Publishing messages from ROS2 to ROS1.
4. Terminal 4: Listening to the ROS1 topic and successfully echoing the messages published from ROS2.

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1. Install colcon:

   • Update your package index:

sudo apt update

• Install colcon:

sudo apt install python3-colcon-common-extensions

2. Create Workspaces for ROS Noetic and ROS2 Foxy:

ROS1:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash

ROS2:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/
colcon build
source install/local_setup.bash

3. Install the Arduino Robot Arm Package in ROS Noetic:

   • Install moveit_ros_planning:

sudo apt-get install ros-noetic-moveit

• Rebuild the Workspace (if encountered an error):

cd ~/catkin_ws
catkin_make

• Install the Arduino Robot Arm Package:

cd ~/catkin_ws/src
git clone https://github.com/smart-methods/arduino_robot_arm.git
cd ..
catkin_make
source devel/setup.bash

4. Create and Set Up ros1_bridge Workspace:

mkdir -p ~/ros1_bridge_ws/src
cd ~/ros1_bridge_ws/src
git clone -b foxy https://github.com/ros2/ros1_bridge.git
cd ~/ros1_bridge_ws
colcon build --packages-select ros1_bridge --cmake-force-configure --cmake-args -DBUILD_TESTING=FALSE
source install/local_setup.bash

5. Source ROS1 and ROS2 Setup Files:

   • Ensure All Required ROS 2 Packages are Installed:

sudo apt update
sudo apt install ros-foxy-rmw-cyclonedds-cpp ros-foxy-rmw-fastrtps-cpp ros-foxy-rmw-implementation

• Source ROS1 and ROS2

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash

• If error encountered:
• Install python3-colcon-common-extensions and python3-ament-package:

sudo apt update
sudo apt install python3-colcon-common-extensions python3-ament-package

• Rebuild the ros1_bridge:

cd ~/ros1_bridge_ws
colcon build --packages-select ros1_bridge --cmake-force-configure --cmake-args -DBUILD_TESTING=FALSE

6. Test the bridge:

source install/local_setup.bash
ros2 run ros1_bridge dynamic_bridge --print-pairs

7. Launch the Arduino_robot_arm package:

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
roslaunch robot_arm_pkg check_motors.launch
rostopic list

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Running ros1_bridge

After launching the check_motors.launch file and have the robot arm running in ROS1, you need to set up the ros1_bridge and run it to ensure communication between ROS1 and ROS2.

Open a new terminal:

8. Run the bridge:

source install/setup.bash
ros2 run ros1_bridge dynamic_bridge

9. Echo /joint_states topic in ROS2:

source /opt/ros/foxy/setup.bash
ros2 topic echo /joint_states sensor_msgs/msg/JointState