hsd-dev · hsd-dev · May 18, 2020 · May 19, 2020 · May 20, 2020 · May 22, 2020
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -0,0 +1,19 @@
+name: CI
+
+on: [push, pull_request] # on all pushes and PRs
+
+jobs:
+  ros1_bridge:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: ros-tooling/setup-ros@v0.1
+        with:
+          required-ros-distributions: "noetic rolling"
+      - name: Build and test ros1-bridge
+        uses: ros-tooling/action-ros-ci@v0.2
+        with:
+          package-name: ros1_bridge
+          target-ros1-distro: noetic
+          target-ros2-distro: rolling
+
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,52 @@
 Changelog for package ros1_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.10.1 (2021-01-25)
+-------------------
+* Fix logging for updated rclcpp interface (`#303 <https://github.com/ros2/ros1_bridge/issues/303>`_)
+* Fix typo in comments (`#297 <https://github.com/ros2/ros1_bridge/issues/297>`_)
+* Contributors: Michael Carroll, Vicidel
+
+0.9.5 (2020-12-08)
+------------------
+* Update to use rosidl_parser and .idl files rather than rosidl_adapter and .msg files (`#296 <https://github.com/ros2/ros1_bridge/issues/296>`_)
+* Update maintainers (`#286 <https://github.com/ros2/ros1_bridge/issues/286>`_)
+* Contributors: Jacob Perron, William Woodall
+
+0.9.4 (2020-09-10)
+------------------
+* use hardcoded QoS (keep all, transient local) for /tf_static topic in dynamic_bridge (`#282 <https://github.com/ros2/ros1_bridge/issues/282>`_)
+* document explicitly passing the topic type to 'ros2 topic echo' (`#279 <https://github.com/ros2/ros1_bridge/issues/279>`_)
+
+0.9.3 (2020-07-07)
+------------------
+* Fix multiple definition if message with same name as service exists (`#272 <https://github.com/ros2/ros1_bridge/issues/272>`_)
+* Contributors: Dirk Thomas
+
+0.9.2 (2020-06-01)
+------------------
+* When generating service mappings cast pair to set to avoid duplicate pairs (`#268 <https://github.com/ros2/ros1_bridge/issues/268>`_)
+* Contributors: Gavin Suddrey
+
+0.9.1 (2020-05-27)
+------------------
+* Deprecate package key for service parameters, use full type instead (`#263 <https://github.com/ros2/ros1_bridge/issues/263>`_)
+* Fix removing obsolete ROS 2 service bridges (`#267 <https://github.com/ros2/ros1_bridge/issues/267>`_)
+* Gracefully handle invalid ROS 1 publishers (`#266 <https://github.com/ros2/ros1_bridge/issues/266>`_)
+* Use reliable publisher in simple bridge (`#264 <https://github.com/ros2/ros1_bridge/issues/264>`_)
+* Remove outdated information on Fast RTPS bug (`#260 <https://github.com/ros2/ros1_bridge/issues/260>`_)
+* Contributors: Dirk Thomas, Thom747
+
+0.9.0 (2020-05-18)
+------------------
+* Avoid new deprecations (`#255 <https://github.com/ros2/ros1_bridge/issues/255>`_)
+* Updates since changes to message_info in rclcpp (`#253 <https://github.com/ros2/ros1_bridge/issues/253>`_)
+* Assert ROS 1 nodes' stdout (`#247 <https://github.com/ros2/ros1_bridge/issues/247>`_)
+* Ignore actionlib_msgs deprecation warning (`#245 <https://github.com/ros2/ros1_bridge/issues/245>`_)
+* Drop workaround for https://github.com/ros2/rmw_fastrtps/issues/265. (`#233 <https://github.com/ros2/ros1_bridge/issues/233>`_)
+* Code style only: wrap after open parenthesis if not in one line (`#238 <https://github.com/ros2/ros1_bridge/issues/238>`_)
+* Contributors: Dirk Thomas, Jacob Perron, Michel Hidalgo, William Woodall
+
 0.8.2 (2020-01-17)
 ------------------
 * fix building test when ROS 1 diagnostic_msgs is isolated from roscpp (`#236 <https://github.com/ros2/ros1_bridge/issues/236>`_)

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -99,7 +99,7 @@ foreach(package_name ${ros2_interface_packages})
   if(NOT "${package_name}" STREQUAL "builtin_interfaces")
     list(APPEND generated_files "${generated_path}/${package_name}_factories.cpp")
     list(APPEND generated_files "${generated_path}/${package_name}_factories.hpp")
-    foreach(interface_file ${${package_name}_INTERFACE_FILES})
+    foreach(interface_file ${${package_name}_IDL_FILES})
       file(TO_CMAKE_PATH "${interface_file}" interface_name)
       get_filename_component(interface_basename "${interface_name}" NAME_WE)
       # skipping actions and request and response messages of services

diff --git a/README.md b/README.md
@@ -10,8 +10,11 @@ If you would like to use a bridge with other interfaces (including your own cust
 See [the documentation](doc/index.rst) for an example setup.
 
 For efficiency reasons, topics will only be bridged when matching publisher-subscriber pairs are active for a topic on either side of the bridge.
-Note that before `rostopic echo` would work with bridged topics, a subscriber must already exist, in order for `echo` to determine the message type and then to create its own subscriber.
-You can use the `--bridge-all-2to1-topics` option to bridge all ROS 2 topics to ROS 1 so that tools such as `rostopic list` and `rqt` will see the topics even if there are no matching ROS 1 subscribers.
+As a result using `ros2 topic echo <topic-name>` doesn't work but fails with an error message `Could not determine the type for the passed topic` if no other subscribers are present since the dynamic bridge hasn't bridged the topic yet.
+As a workaround the topic type can be specified explicitly `ros2 topic echo <topic-name> <topic-type>` which triggers the bridging of the topic since the `echo` command represents the necessary subscriber.
+On the ROS 1 side `rostopic echo` doesn't have an option to specify the topic type explicitly.
+Therefore it can't be used with the dynamic bridge if no other subscribers are present.
+As an alternative you can use the `--bridge-all-2to1-topics` option to bridge all ROS 2 topics to ROS 1 so that tools such as `rostopic echo`, `rostopic list` and `rqt` will see the topics even if there are no matching ROS 1 subscribers.
 Run `ros2 run ros1_bridge dynamic_bridge -- --help` for more options.
 
 ## Prerequisites
@@ -174,9 +177,6 @@ Once you stop either the talker or the listener in *shell B* a line will be stat
 removed 1to2 bridge for topic '/chatter'
 ```
 
-*Note:* When the bridge is run using the default ROS 2 middleware implementation, which uses Fast RTPS, it does not always remove bridges instantly.
-See [https://github.com/ros2/ros1_bridge/issues/38](https://github.com/ros2/ros1_bridge/issues/38).
-
 The screenshot shows all the shell windows and their expected content:
 
 ![ROS 1 talker and ROS 2 listener](doc/ros1_talker_ros2_listener.png)

diff --git a/include/ros1_bridge/bridge.hpp b/include/ros1_bridge/bridge.hpp
@@ -83,6 +83,17 @@ create_bridge_from_1_to_2(
   const std::string & ros2_topic_name,
   size_t publisher_queue_size);
 
+Bridge1to2Handles
+create_bridge_from_1_to_2(
+  ros::NodeHandle ros1_node,
+  rclcpp::Node::SharedPtr ros2_node,
+  const std::string & ros1_type_name,
+  const std::string & ros1_topic_name,
+  size_t subscriber_queue_size,
+  const std::string & ros2_type_name,
+  const std::string & ros2_topic_name,
+  const rclcpp::QoS & publisher_qos);
+
 Bridge2to1Handles
 create_bridge_from_2_to_1(
   rclcpp::Node::SharedPtr ros2_node,
@@ -95,6 +106,18 @@ create_bridge_from_2_to_1(
   size_t publisher_queue_size,
   rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr);
 
+Bridge2to1Handles
+create_bridge_from_2_to_1(
+  rclcpp::Node::SharedPtr ros2_node,
+  ros::NodeHandle ros1_node,
+  const std::string & ros2_type_name,
+  const std::string & ros2_topic_name,
+  const rclcpp::QoS & subscriber_qos,
+  const std::string & ros1_type_name,
+  const std::string & ros1_topic_name,
+  size_t publisher_queue_size,
+  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr);
+
 BridgeHandles
 create_bidirectional_bridge(
   ros::NodeHandle ros1_node,

diff --git a/include/ros1_bridge/factory.hpp b/include/ros1_bridge/factory.hpp
@@ -70,6 +70,15 @@ class Factory : public FactoryInterface
   {
     auto qos = rclcpp::QoS(rclcpp::KeepAll());
     qos.get_rmw_qos_profile() = qos_profile;
+    return create_ros2_publisher(node, topic_name, qos);
+  }
+
+  rclcpp::PublisherBase::SharedPtr
+  create_ros2_publisher(
+    rclcpp::Node::SharedPtr node,
+    const std::string & topic_name,
+    const rclcpp::QoS & qos)
+  {
     return node->create_publisher<ROS2_T>(topic_name, qos);
   }
 
@@ -103,9 +112,8 @@ class Factory : public FactoryInterface
     ros::Publisher ros1_pub,
     rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr)
   {
-    rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_sensor_data;
-    custom_qos_profile.depth = queue_size;
-    return create_ros2_subscriber(node, topic_name, custom_qos_profile, ros1_pub, ros2_pub);
+    auto qos = rclcpp::SensorDataQoS(rclcpp::KeepLast(queue_size));
+    return create_ros2_subscriber(node, topic_name, qos, ros1_pub, ros2_pub);
   }
 
   rclcpp::SubscriptionBase::SharedPtr
@@ -115,18 +123,30 @@ class Factory : public FactoryInterface
     const rmw_qos_profile_t & qos,
     ros::Publisher ros1_pub,
     rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr)
+  {
+    auto rclcpp_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos));
+    rclcpp_qos.get_rmw_qos_profile() = qos;
+    return create_ros2_subscriber(
+      node, topic_name, rclcpp_qos, ros1_pub, ros2_pub);
+  }
+
+  rclcpp::SubscriptionBase::SharedPtr
+  create_ros2_subscriber(
+    rclcpp::Node::SharedPtr node,
+    const std::string & topic_name,
+    const rclcpp::QoS & qos,
+    ros::Publisher ros1_pub,
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr)
   {
     std::function<
       void(const typename ROS2_T::SharedPtr msg, const rclcpp::MessageInfo & msg_info)> callback;
     callback = std::bind(
       &Factory<ROS1_T, ROS2_T>::ros2_callback, std::placeholders::_1, std::placeholders::_2,
       ros1_pub, ros1_type_name_, ros2_type_name_, node->get_logger(), ros2_pub);
-    auto rclcpp_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos));
-    rclcpp_qos.get_rmw_qos_profile() = qos;
     rclcpp::SubscriptionOptions options;
     options.ignore_local_publications = true;
     return node->create_subscription<ROS2_T>(
-      topic_name, rclcpp_qos, callback, options);
+      topic_name, qos, callback, options);
   }
 
   void convert_1_to_2(const void * ros1_msg, void * ros2_msg) override
@@ -214,6 +234,16 @@ class Factory : public FactoryInterface
       }
     }
 
+    void * ptr = ros1_pub;
+    if (ptr == 0) {
+      RCLCPP_WARN_ONCE(
+        logger,
+        "Message from ROS 2 %s failed to be passed to ROS 1 %s because the "
+        "ROS 1 publisher is invalid (showing msg only once per type)",
+        ros2_type_name.c_str(), ros1_type_name.c_str());
+      return;
+    }
+
     ROS1_T ros1_msg;
     convert_2_to_1(*ros2_msg, ros1_msg);
     RCLCPP_INFO_ONCE(

diff --git a/include/ros1_bridge/factory_interface.hpp b/include/ros1_bridge/factory_interface.hpp
@@ -67,6 +67,13 @@ class FactoryInterface
     const std::string & topic_name,
     const rmw_qos_profile_t & qos_profile) = 0;
 
+  virtual
+  rclcpp::PublisherBase::SharedPtr
+  create_ros2_publisher(
+    rclcpp::Node::SharedPtr node,
+    const std::string & topic_name,
+    const rclcpp::QoS & qos) = 0;
+
   virtual
   ros::Subscriber
   create_ros1_subscriber(
@@ -94,6 +101,15 @@ class FactoryInterface
     ros::Publisher ros1_pub,
     rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;
 
+  virtual
+  rclcpp::SubscriptionBase::SharedPtr
+  create_ros2_subscriber(
+    rclcpp::Node::SharedPtr node,
+    const std::string & topic_name,
+    const rclcpp::QoS & qos,
+    ros::Publisher ros1_pub,
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;
+
   virtual
   void
   convert_1_to_2(const void * ros1_msg, void * ros2_msg) = 0;

diff --git a/package.xml b/package.xml
@@ -2,11 +2,14 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros1_bridge</name>
-  <version>0.8.2</version>
+  <version>0.10.1</version>
   <description>A simple bridge between ROS 1 and ROS 2</description>
-  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+  <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
   <license>Apache License 2.0</license>
 
+  <author email="dthomas@openrobotics.org">Dirk Thomas</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_index_python</buildtool_depend>
   <buildtool_depend>python3-catkin-pkg-modules</buildtool_depend>