DIT ROS 1 Bridge

This project provides a Docker-based solution to establish a communication bridge between ROS 1 Noetic and ROS 2 Humble using ros1_bridge.

Quick Start

Start the container

cd DIT-Ros1Bridge/docker
docker compose up -d

This will start two docker containers:

• ros-core: Runs the ROS 1 Master (roscore) using the ros:noetic-ros-base image.
• ros1bridge: Runs the ros1_bridge (dynamic_bridge) with both ROS 1 and ROS 2 environments sourced.

Build the image

If you have modified the Dockerfile or the installation scripts, you need to rebuild the image.

Note: The build process involves compiling ROS 2 Humble from source, which will take approximately 20-30 minutes depending on your hardware.

cd DIT-Ros1Bridge/docker
docker compose build
docker compose up -d

Test Ros1Bridge

Start containers fot testing

We also provide docker container for ROS1 and ROS2 environment, you can use the command to start the containers:

cd DIT-Ros1Bridge/docker
docker compose -f compose.example.yaml up -d

This will start two additional containers:

• ros1: A container with the ROS Noetic environment.
• ros2: A container with the ROS Humble environment.

Test the 1to2bridge (ROS 1 Talker -> ROS 2 Listener)

Open two terminals for testing:

Termianl 1 (ROS 1 Talker)

docker exec -it ros1 bash
source /opt/ros/noetic/setup.bash
rosrun rospy_tutorials talker

Termianl 2 (ROS 2 Listener)

docker exec -it ros2 bash
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp listener

Verification: If the bridge works correctly, you should see output in Terminal 2 similar to:

I heard: [hello world 1769646207.0724797]

Test the 2to1bridge (ROS 2 Talker -> ROS 1 Listener)

Open two terminals for testing:

Termianl 1 (ROS 2 Talker)

docker exec -it ros2 bash
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp listener

Termianl 2 (ROS 1 Listener)

docker exec -it ros1 bash
source /opt/ros/noetic/setup.bash
rosrun rospy_tutorials talker

Verification: If the bridge works correctly, you should see output in Terminal 2 similar to:

I heard: [Hello World: 13]

Reference

• ros1_bridge GitHub Repository
• Using ros1_bridge with upstream ROS on Ubuntu 22.04