ROS Bridge Docker (Noetic <-> Galactic)

Running this Docker container will spawn a ros_bridge node to generate mappings for messages between ROS1 and ROS2.

*** This branch bridges ROS1 noetic with ROS2 galactic. If you need to bridge ROS1 noetic to ROS2 humble, see the noetic-humble branch.

Prerequisites

• A topic is being published on side A. The message type of this topic should be known inside the Docker container (list below).
• At least one subscriber listening for the topic on side B. You will most likely have to make a dummy script for testing.

Steps to Start the ROS Bridge

1. Source bash_utils:

   source bash_utils

2. Build the ROS bridge:

   ros_bridge_build

3. Start the ROS bridge:

   ros_bridge_start

4. Verify the node is running:

   ros2 node list

   You should see the ros_bridge node listed.
5. When done, stop the ROS bridge:

   ros_bridge_stop

Notes

• There is no need to perform any actions inside the Docker container's shell.
• The ros_bridge can be started before or after the topics are being published. As long as the prerequisites are met, messages will be correctly bridged between ROS1 and ROS2.

Message Types

• std_msgs (default with ROS)
• nav_msgs
• sensor_msgs
• tf2_msgs

Branch

Feel free to create a branch for custom message types for your project. There are comments for you to follow in the source code.