ROS2入门教程-源码安装ros1_bridge

ROS2入门教程-源码安装ros1_bridge

说明：

• 介绍如何源码安装ros1_bridge

步骤：

• 安装ros2 foxy，参考教程
• 路径为：~/ros2_foxy/src
• 安装ros1 noetic，参考教程
• 路径为：/opt/ros/noetic/setup.bash
• 新建目录

mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src
git clone https://github.com/ros2/ros1_bridge

• 暂时不能加载ros1的工作空间，编译

colcon build --symlink-install --packages-skip ros1_bridge

• 加载ros1工作空间

source /opt/ros/melodic/setup.bash

• 再加载ros2工作空间

. <install-space-with-ros2>/local_setup.bash

• 最后在编译ros1_bridge

colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

测试：

• 启动ros1的roscore

# Shell A (ROS 1 only):
. /opt/ros/melodic/setup.bash
# Or, on OSX, something like:
# . ~/ros_catkin_ws/install_isolated/setup.bash
roscore

• 启动bridge

# Shell B (ROS 1 + ROS 2):
# Source ROS 1 first:
. /opt/ros/melodic/setup.bash
# Or, on OSX, something like:
# . ~/ros_catkin_ws/install_isolated/setup.bash
# Source ROS 2 next:
. <install-space-with-bridge>/setup.bash
# For example:
# . /opt/ros/dashing/setup.bash
export ROS_MASTER_URI=http://localhost:11311
ros2 run ros1_bridge dynamic_bridge

• ros1下发布talker话题

# Shell C:
. /opt/ros/melodic/setup.bash
# Or, on OSX, something like:
# . ~/ros_catkin_ws/install_isolated/setup.bash
rosrun rospy_tutorials talker

• ros2下订阅话题

# Shell D:
. <install-space-with-ros2>/setup.bash
ros2 run demo_nodes_cpp listener

• 更多例子，参考教程