Domain Bridge Test

This repository demonstrates how to bridge different ROS 2 Domain IDs using Docker.

Structure

• config.yaml: Domain bridge configuration for topics.
• publisher.sh: Publishes an integer message (Domain ID = 1).
• subscriber.sh: Subscribes to the same topic (Domain ID = 2) and echoes received messages.

Usage

1. Open a terminal and run:

   ./publisher.sh

   This publishes an integer message to /test under Domain ID = 1.

2. In another terminal, run:

   ./subscriber.sh

   This starts a container with domain bridge and subscribes to /test.