Interfaces

Interfaces repo - All interfaces including APIs, UIs etc go here

Fetch

1. SSH (pwd: a.i.makerspace1001)
2. export ROS_MASTER_URI=???

Docker

For the Jetson Xavier with Ubuntu 18.04 installed, Docker containers have to be used in order to use ROS2 (Humble). The Dockerfile simply builds the Docker image for ROS2 with ros1_bridge packaged installed.

To use the ros1_bridge to network ROS1 and ROS2, the follow the steps below.

1. Start roscore for ROS1 Melodic (natively installed on Xavier

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

2. Build ROS2 Docker Container (if not already built)

   cd ros-humble
   sudo docker build -t ros-humble .

3. Run ROS2 Docker

   sudo docker run -it --name ros-humble --net=host ros-humble-volume:tf_static

4. Source ros and ros1_bridge workspace

   source /opt/ros/humble/setup.bash
   source ros-humble-ros1-bridge/install/local_setup.bash

5. Start ros1_bridge node in ROS2 docker Dynamic bridge to bridge all topics

   ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
   

   Parameter bridge to bridge only selected topics and services: Load yaml file with mentioned topics and services to rosparam on ros1

   ### following commands are to be run on the fetch ######
   cd ros-humble/config
   rosparam load bridge.yaml
   

   To run the bridge with the updated params run the following from the ros2 docker

   ros2 run ros1_bridge parameter_bridge
   

   to add topics and services to bridge update bridge.yaml on the fetch in ~/ros-humble/config/

   topics:
   

• topic: /odom # Topic name on both ROS 1 and ROS 2 type: nav_msgs/msg/Odometry # Type of topic to bridge - add ros2 msg type and not ros1 queue_size: 1 # Queue size

  qos is optional remove if not needed for the topic

  qos: history: keep_last # OR keep_all, then you can omit depth parameter below depth: 10 # Only required when history == keep_last reliability: reliable # OR best_effort durability: transient_local # OR volatile deadline: secs: 10 nsecs: 2345 lifespan: secs: 20 nsecs: 3456 liveliness: liveliness_system_default # Values from https://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html, eg. LIVELINESS_AUTOMATIC liveliness_lease_duration: secs: 40 nsecs: 5678

to learn more about qos settings visit the following link

https://docs.ros.org/en/foxy/Concepts/About-Quality-of-Service-Settings.html

#services_2_to_1:

-

service: / # ROS 1 service name

type: # The ROS 1 service type name

#services_1_to_2:

-

service: / # ROS 2 service name

type: # The ROS 2 service type name

Now, ROS2 within the container environment should be connected to ROS1.

### Example
1. In a different Jetson terminal, publish or subscribe to a topic.

source /opt/ros/melodic/setup.bash rostopic pub /chatter std_msgs/String hello

2. In a different ROS2 docker terminal, subscribe or publish to a topic.

source /opt/ros/humble/setup.bash ros2 topic echo /chatter

Note: the following terminal command can be used to start another Docker terminal.

sudo docker exec ros-humble /bin/bash