Ros1 Noetic(本地)和Ros2 Humble(docker)之间相互通信及设置初始位姿
一、安装Ros1_bridge
参考文章：https://zhuanlan.zhihu.com/p/1913928957679632486
本地环境
- 主机Ubuntu20.04 + Ros1 Noetic
- Docker (Ubuntu22.04 + Ros2 Humble)
容器内安装ros1_bridge
注意启动容器的时候设置为--network=host
- 容器内（ubuntu安装ros noetic）
# Add source echo "deb [trusted=yes arch=amd64] http://deb.repo.autolabor.com.cn jammy main" | sudo tee /etc/apt/sources.list.d/autolabor.list # Update sudo apt update # Install sudo apt install ros-noetic-autolabor# 验证 source /opt/ros/noetic/setup.sh roscore - git code
mkdir -p ros_bridge_ws/src && cd ros_bridge_ws/src git clone https://github.com/Eku127/ros1_bridge.git - build
# in the workspace, NO source the setup of ROS1 # on the ros_bridge_ws do compiling cd .. colcon build --symlink-install --packages-skip ros1_bridge # setup ros1 source /opt/ros/noetic/setup.sh # setup ros2 source /opt/ros/humble/setup.sh # compiling colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure --event-handlers console_direct+ - test，执行下面命令能够弹出支持的转换消息类型
ros2 run ros1_bridge dynamic_bridge --print-pairs
使用
注意：在容器内下载ros-noetic-autolabor后，会自动在容器内的~/.bashrc文件内添加source /opt/ros/noetic/setup.bash，请注释该行，否则会影响容器内ros2相关功能包的正常使用。然后Ros1_bridge是在容器内使用，本地Ros1发布话题容器内可以接受并进行转换。
启动ros1_bridge依赖roscore，启动该节点前可以在本地执行roscore，在容器内执行：
# setup ros1
source /opt/ros/noetic/setup.sh
# setup ros2
source /opt/ros/humble/setup.sh# work_ws
source ./install/setup.bash ros2 run ros1_bridge dynamic_bridge遇到的问题：
1.使用dynamic_bridge，不会自动转换topic话题，但是可以自动转换server相关的话题。
这里暂时不清楚什么原因，这里只使用位姿转换的话题，涉及少量的话题，可以改进simple_bridge_1_to_2.cpp文件，订阅ros1话题然后转化为ros2话题并进行发布，示例程序如下，注意CMakeLists文件要添加相关依赖。
#include <iostream>
#include <memory>
#include <utility>
#include <csignal>// include ROS 1
#ifdef __clang__
# pragma clang diagnostic push
# pragma clang diagnostic ignored "-Wunused-parameter"
#endif
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"
#ifdef __clang__
# pragma clang diagnostic pop
#endif// include ROS 2
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"// Publisher 全局变量
rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pub;
std::shared_ptr<rclcpp::Node> node_ptr;void chatterCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr & ros1_msg)
{std::cout << "I heard pose at: [" << ros1_msg->pose.pose.position.x << ", " << ros1_msg->pose.pose.position.y << ", "<< ros1_msg->pose.pose.position.z << "]" << std::endl;auto ros2_msg = geometry_msgs::msg::PoseWithCovarianceStamped();// 复制消息内容ros2_msg.header.stamp.sec = ros1_msg->header.stamp.sec;ros2_msg.header.stamp.nanosec = ros1_msg->header.stamp.nsec;ros2_msg.header.frame_id = ros1_msg->header.frame_id;ros2_msg.pose.pose.position.x = ros1_msg->pose.pose.position.x;ros2_msg.pose.pose.position.y = ros1_msg->pose.pose.position.y;ros2_msg.pose.pose.position.z = ros1_msg->pose.pose.position.z;ros2_msg.pose.pose.orientation.x = ros1_msg->pose.pose.orientation.x;ros2_msg.pose.pose.orientation.y = ros1_msg->pose.pose.orientation.y;ros2_msg.pose.pose.orientation.z = ros1_msg->pose.pose.orientation.z;ros2_msg.pose.pose.orientation.w = ros1_msg->pose.pose.orientation.w;for (size_t i = 0; i < 36; ++i) {ros2_msg.pose.covariance[i] = ros1_msg->pose.covariance[i];}std::cout << "Passing along pose to ROS2 and shutting down node" << std::endl;pub->publish(ros2_msg);// 关闭 ROS1 和 ROS2ros::shutdown();rclcpp::shutdown();
}int main(int argc, char * argv[])
{// 初始化 ROS 2rclcpp::init(argc, argv);node_ptr = rclcpp::Node::make_shared("talker");pub = node_ptr->create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>("initialpose", 10);// 初始化 ROS 1ros::init(argc, argv, "listener");ros::NodeHandle n;ros::Subscriber sub = n.subscribe("initialpose", 10, chatterCallback);// ROS1 spin 阻塞，收到消息后回调将会关闭节点ros::spin();return 0;
}
然后执行：
ros2 run ros1_bridge simple_bridge_1_to_2不过上面还存在一定BUG，暂时不清楚原因：先启动该节点，然后再发布话题，该节点接收不到话题。但是先在本地发布话题，容器内再启动该节点，就能够实现正常功能。