# ws_618_ros1_bridge

**Repository Path**: wty-yy/ws_618_ros1_bridge

## Basic Information

- **Project Name**: ws_618_ros1_bridge
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-06-08
- **Last Updated**: 2025-07-21

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

> 由于`source`带有ros1_bridge的项目时，会同时将ROS1, ROS2添加到环境变量，无法启动rviz2，因此单独作为一个项目

# Kuavo上位机ros1_bridge
## 编译
### 不包含Customed Msgs （弃用）
ros1_bridge安装方法
```bash
cd ws_bridge
source /opt/ros/noetic/setup.sh
source install/setup.sh
# 第一次编译可能需要16分钟左右
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
```

使用方法参考[wty-yy/ws_618](https://gitee.com/wty-yy/ws_618)

### 包含Customed Msgs (当前使用)
> 参考[ros-humble-ros1-bridge-builder](https://github.com/TommyChangUMD/ros-humble-ros1-bridge-builder?tab=readme-ov-file#checking-example-custom-message)，[custom_msgs](https://github.com/TommyChangUMD/custom_msgs)，以及[ros2_bridge_custom_interfaces](https://github.com/lFatality/ros2_bridge_custom_interfaces)
- [x] TODO: 将`ws_ros1`和`ws_ros2`中加入`ManiProcessCmd`自定义消息，并用`ros1_bridge`进行通讯

自定义的Msg包含：
- ManiProcessCmd:
```srv
string level1_name
string level2_name
float64 value
```

1.编译ros1
```bash
cd ws_ros1
source /opt/ros/noetic/setup.zsh
catkin make
```

2.编译ros2
```bash
cd ws_ros2
source /opt/ros/humble/setup.zsh
colcon build
```

3.编译bridge
```bash
# 在项目根目录下编译即可
source /opt/ros/noetic/setup.zsh
source /opt/ros/humble/setup.zsh
source ws_ros1/devel/setup.zsh  
source ws_ros2/install/setup.zsh
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
```

## 运行
### 一键启动脚本
```bash
chmod +x run.sh
./run.sh
```

### 转发指定topic
将[bridge.yml](ws_bridge/src/ros1_bridge/config/bridge.yaml)拷贝到下位机上，分别配置好上下位机的`ROS_MASTER_URI, ROS_IP`
```bash
# 下位机, 加载刚刚拷贝的yaml
rosparam load bridge.yaml

# 上位机, 在项目根目录下, 启动转发
source install/setup.zsh
ros2 run ros1_bridge parameter_bridge  # 指定转发的topic
```

### 转发全部topic （不用）
```bash
# 在项目根目录下
source install/setup.zsh
ros2 run ros1_bridge dynamic_bridge  # 自动转发全部的topic
```