tku-iarc / ros1_bridge_docker

這個映像檔內包含

1. Ubuntu 20.04
2. ROS 1 noetic
3. ROS 2 foxy

Now create a script to run the image called run_my_image.bash

xhost +local:docker 

sudo docker run -it \
    --user=root \
    --net=host \
    --rm --ipc=host \
    --env="DISPLAY=$DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --env="XAUTHORITY=$XAUTH" \
    --volume="$XAUTH:$XAUTH" \
    --privileged \
    -e LANG=C.UTF-8 \
    --volume=/dev:/dev \
    ubuntu20_test:v1 \
    /bin/bash

Make the script executable

chmod a+x run_my_image.bash

Execute the script

sudo ./run_my_image.bash

If you want to add multiple terminals, you can enter the following commands in the new terminal

sudo docker exec -it --user root <CONTAINER ID> /bin/bash

TEST ros1_bridge

安裝ros1_bridge

mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src
git clone https://github.com/ros2/ros1_bridge
# 暫時不能加載ros1 工作空間, 編譯
colcon build --symlink-install --packages-skip ros1_bridge
# 加載ros1工作空間
. /opt/ros/noetic/setup.bash
# 加載ros2工作空間
. /ros2_foxy/ros2-linux/setup.bash
# 最後再編譯ros1_bridge
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

測試ros1_bridge

啟動ros1 roscore

# Shell A (ROS 1 only):
. /opt/ros/noetic/setup.bash
roscore

啟動bridge

# Shell B (ROS 1 + ROS 2):
cd ~/colcon_ws/src
. /opt/ros/noetic/setup.bash
. /ros2_foxy/ros2-linux/setup.bash
export ROS_MASTER_URI=http://localhost:11311
source ./install/setup.bash
ros2 run ros1_bridge dynamic_bridge

ros1下發布talker話題

# Shell C:
. /opt/ros/noetic/setup.bash
rosrun rospy_tutorials talker

ros2下訂閱話題

# Shell D:
. /ros2_foxy/ros2-linux/setup.bash
ros2 run demo_nodes_cpp listener