ros1和ro2 之间的通信

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ros1和ro2 通信之间的通信

flyfish

环境
Ubuntu 18.04
ROS 1 Melodic
ROS 2 Bouncy
都安装到同一台机器
所以设置环境变量会有如下命令

source /opt/ros/bouncy/setup.bash   
source /opt/ros/melodic/setup.bash

启动4个终端

Terminal 0

$ roscore

Terminal 1

$ source /opt/ros/melodic/setup.bash
$ rosrun roscpp_tutorials talker
[ INFO] [1539931986.269673623]: hello world 0
[ INFO] [1539931986.369861272]: hello world 1
[ INFO] [1539931986.469782639]: hello world 2
[ INFO] [1539931986.569751479]: hello world 3
...

Terminal 2

$ source /opt/ros/bouncy/setup.bash
$ ros2  run ros1_bridge dynamic_bridge
created 1to2 bridge for topic '/chatter' with ROS 1 type 'std_msgs/String' and ROS 2 type 'std_msgs/String'
[INFO] [ros1_bridge]: Passing message from ROS 1 std_msgs/String to ROS 2 std_msgs/String (showing msg only once per type)
removed 1to2 bridge for topic '/chatter'

Terminal 3

$ source /opt/ros/bouncy/setup.bash 
$ ros2 run demo_nodes_cpp listener
[INFO] [listener]: I heard: [hello world 516]
[INFO] [listener]: I heard: [hello world 517]
[INFO] [listener]: I heard: [hello world 518]
[INFO] [listener]: I heard: [hello world 519]
...