ROS1.md

Luos with ROS 1

The ROS 1 Bridge allows ROS 2 packages such as luos_ros2 to communicate with a ROS 1 ecosystem. However, both ROS 1 and 2 need to be installed and the bridge takes care of the translation. This procedure has been tested with ROS 1 Noetic + ROS 2 Foxy and Python 3.8.2 in Ubuntu. It might work with older distributions although it hasn't been tested.

1. Install ROS 2 and Luos

Make sure you have first installed ROS 2 and managed to run the broker in ROS 2 with the command ros2 launch luos_interface broker.launch.py. We assume your ROS 2 workspace is ~/ros2_ws.

2. Install ROS 1 and the ROS 1 bridge

Then install ROS 1 Noetic on Ubuntu 20.04. We assume your ROS 1 workspace is ~/ros_ws.

3. Initialize the bridge

The bridge has it own workspace that is to be compiled with colcon (ROS 2):

mkdir -p ~/ros1_bridge_ws/src
cd ~/ros1_bridge_ws/src
git clone -b foxy https://github.com/ros2/ros1_bridge.git
source ~/ros_ws/devel/setup.bash
source ~/ros2_ws/install/setup.bash
cd ~/ros1_bridge_ws
colcon build --packages-select ros1_bridge --cmake-force-configure --cmake-args -DBUILD_TESTING=FALSE

4. Start Luos in ROS 1

In terminal 1: ROS Core in workspace ~/ros_ws

source ~/ros_ws/devel/setup.bash
roscore

In terminal 2: ROS 1 Bridge in workspace ~/ros1_bridge_ws

source ~/ros1_bridge_ws/install/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics

In terminal 3: Luos broker in workspace ~/ros2_ws

Plug some Luos modules before starting the broker.

source ~/ros2_ws/install/setup.bash
ros2 launch luos_interface broker.launch.py

In terminal 1: Your ROS 1 app in workspace ~/ros_ws

Let's consider here that rostopic is the ROS 1 app you want to run with Luos modules.

source ~/ros_ws/devel/setup.bash
rostopic list

You can then publish and subscribe to the available topics in ROS 1.