CODEWITHSUNDEEP
apirosros2
Bob9710
Bob9710

Reputation: 205

How to test API from a ROS1 package that works with another ROS2 package?

I have found one ROS1 git repo/package. But it was tested with confirmed ROS Version : ROS Melodic Morenia and Ubuntu 18.04 LTS. So it can be build with catkin_build. Using the following commands

$ cd ~/
$ mkdir --parents catkin_ws/src
$ cd catkin_ws
$ catkin init
$ catkin build

A reference site about vcstool that builds packages after installing dependent packages and overlays your workspace on the installation environment

$ cd ~/catkin_ws/src
$ git clone https://github.com/ros1-package.git
$ sudo apt update
$ sudo apt install python-vcstool python-rosdep python-catkin-tools
$ git clone https://github.com/strv/vcstool-utils.git
$ rosdep install --from-paths ~/catkin_ws/src --ignore-src -r -y
$ ./vcstool-utils/import_all.sh -s .rosinstall ~/catkin_ws/src
$ catkin build
$ source ../devel/setup.bash

Then I have my own repo/package but it uses ROS2. I would like to try and test the existing API of the first ROS1 git repo/package to see if its works together with my own ROS2 package. Would appreciate a help how can proceed and how can test/try the API of the first ROS1 package with my own ROS2 package. Any help?

Upvotes: 0

Views: 80

Answers (1)

Abdul Rahman Dabbour
Abdul Rahman Dabbour

Reputation: 116

You can use the ROS 1 to ROS 2 bridge: https://github.com/ros2/ros1_bridge

Upvotes: 0

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