ROS Robotics Projects - Second Edition

Testing the ros1_bridge package

The ros1_bridge package comes installed by default in our distro-crystal. Let's run a node in ROS-1, open the bridge, and test the published topics in ROS-2. You need to open four separate Terminals for this experiment:

1. In the first Terminal, let's source the ROS-1 and ROS-2 workspaces simultaneously and start the ros1_bridge package:

$ initros1$ initros2$ ros2 run ros1_bridge simple_bridge_1_to_2

You should see the Trying to connect to the ROS master error.

2. In the second Terminal, initialize ROS-1 workspace and run roscore:

$ initros1$ roscore

You should now see the connected to ROS master information.

3. In the third Terminal, start the ROS-1 talker node:

$ initros1$ rosrun rospy_tutorials talker.py