Commit 41d12beb authored by CANNERE Xavier's avatar CANNERE Xavier
Browse files

6.8

parent 0a576b21
......@@ -15,5 +15,4 @@ Welcome to my ROS2 Tutorial!
./topic4/t4.rst
./topic5/t5.rst
./topic6/t6.rst
./topic7/t7.rst
......@@ -697,7 +697,31 @@ Nothing happend, because parameters are wrong, let open the node and type these
The robot should move on the can.
Step 8 : ROS1 Bridge
--------------------
Start your node, then type on a new terminal::
. /opt/ros/noetic/setup.bash
roscore
That source ros1 and open the roscore which is necessary to use ros1.
And in an other new terminal::
. /opt/ros/noetic/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
That launch the node which will do the bridge between ros1 and ros2.
.. warning::
In every new terminal you launch you have to source ros1 (``. /opt/ros/noetic/setup.bash``)
Type on a new terminal sourced ``rostopic list`` (same command as ``ros2 topic list`` but in ros1) and you can see the command of visual node which is a ros2 node. If you close the bridge you will not see them.
Now run a ros1 node, type::
roslaunch opencv_apps find_contours.launch image:=/camera/rgb/image_raw
Use a bridge between ROS1 & ROS2
================================
Step 1 :
--------
Start your node, then type on a new terminal::
. /opt/ros/noetic/setup.bash
roscore
That source ros1 and open the roscore which is necessary to use ros1
And in an other new terminal::
. /opt/ros/noetic/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
That launch the node which will do the bridge between ros1 and ros2
.. warning::
In every new terminal you launch you have to source ros1 (``. /opt/ros/noetic/setup.bash``)
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