ros1_bridgeでROS NoeticとROS2 Galacticの通信

はじめに

ros1_bridgeでROSとROS2の最新ディストリビューションであるNoeticとGalacticを通信させた記事がなかったのでメモ
基本的にgithubのREADME通り
ros1_bridgeについては参考にある記事を参照のこと

環境

OS：ubuntu20.04.3LTS
ROS：Noetic
ROS2：Galactic

同じubuntu20.04にNoeticとGalacticが両方インストールされている環境を想定

概要

ROS Noeticでpublishした/chatterトピックをROS2 Galacticでsubscribeする

ros1_bridgeのインストール

$ sudo apt install ros-galactic-ros1-bridge

ROS 側の準備

std_msg/String型のトピックをpublishするノードを作成、ROS TutorialのPublisher側プログラムを使用

talker.py

# !/usr/bin/env python3
import rospy
from std_msgs.msg import String

def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    r = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        str = "hello world %s"%rospy.get_time()
        rospy.loginfo(str)
        pub.publish(str)
        r.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException: pass

実行

ターミナル1

ROS Noeticでroscoreを起動

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

ターミナル2

ROS NoeticとROS2 Galactic両方の環境をロードしてros1_bridgeを実行

$ source /opt/ros/noetic/setup.bash
$ source /opt/ros/galactic/setup.bash
$ export ROS_MASTER_URI=http://localhost:11311
$ ros2 run ros1_bridge dynamic_bridge

実行画面

created 2to1 bridge for topic '/rosout' with ROS 2 type 'rcl_interfaces/msg/Log' and ROS 1 type 'rosgraph_msgs/Log'
created 1to2 bridge for topic '/chatter' with ROS 1 type 'std_msgs/String' and ROS 2 type 'std_msgs/msg/String'
[INFO] [1633905352.305453175] [ros_bridge]: Passing message from ROS 1 std_msgs/String to ROS 2 std_msgs/msg/String (showing msg only once per type)
[INFO] [1633905352.306387924] [ros_bridge]: Passing message from ROS 2 rcl_interfaces/msg/Log to ROS 1 rosgraph_msgs/Log (showing msg only once per type)

ターミナル3

ROS Noeticでtalkerを実行

$ source /opt/ros/noetic/setup.bash
$ python3 talker.py

実行画面

[INFO] [1633905191.352062]: hello world 1633905191.3518636
[INFO] [1633905191.452340]: hello world 1633905191.452095
[INFO] [1633905191.552324]: hello world 1633905191.5520732
[INFO] [1633905191.652243]: hello world 1633905191.6520474

ターミナル4

ROS2 Galacticでlistenerを実行

$ source /opt/ros/galactic/setup.bash
$ ros2 run demo_nodes_cpp listener

実行画面

[INFO] [1633905246.313638841] [listener]: I heard: [hello world 1633905246.3101022]
[INFO] [1633905246.413807904] [listener]: I heard: [hello world 1633905246.4104435]
[INFO] [1633905246.514000744] [listener]: I heard: [hello world 1633905246.5106533]
[INFO] [1633905246.613886751] [listener]: I heard: [hello world 1633905246.6104968]

参考