domain_bridge

A ROS 2 domain bridge. Bridges ROS communication between different ROS domain IDs.

See the design document for more details about how the bridge works.

Prerequisites

• ROS 2 (Galactic or newer)

Installation

Ubuntu 20.04

Replace $ROS_DISTRO with the ROS codename (e.g. galactic):

sudo apt install ros-$ROS_DISTRO-domain-bridge

From source

Prerequisites:

• Git
• colcon (colcon_cmake)

mkdir -p domain_bridge_ws/src
cd domain_bridge_ws
git clone https://github.com/ros2/domain_bridge.git src/
colcon build

Usage

CLI

There is a standalone executable that can be configured via a YAML file.

You must provide the path to a YAML configuration file as the last argument to the executable. For example,

ros2 run domain_bridge domain_bridge examples/example_bridge_config.yaml

There are also options to override the domain IDs set for all entities in the YAML config, for example,

ros2 run domain_bridge domain_bridge --from 7 --to 8 examples/example_bridge_config.yaml

Use the --help option for more usage information:

ros2 run domain_bridge domain_bridge --help

You can also load composable nodes alongside the domain bridge to allow for intra-process communication. Use the extra argument domain_id to set the domain ID for each loaded component:

ros2 component load /ComponentManager composition composition::Talker -e domain_id:=1
ros2 component load /ComponentManager composition composition::Listener -e domain_id:=2

Launch

You can also use the example launch script, which takes a required launch argument config:

ros2 launch domain_bridge domain_bridge.launch.xml config:=examples/example_bridge_config.yaml

You can also override domain IDs with optional launch arguments from_domain and to_domain.

To reverse the from and to domain IDs for a topic, set the reversed argument to true.

To enable bidirectional bridging of a topic, set the bidirectional argument to true.

Here is an example of including the domain bridge launch script into your own:

<launch>
  <include file="$(find-pkg-share domain_bridge)/launch/domain_bridge.launch.xml">
    <arg name="config" value="$(find-pkg-share domain_bridge)/examples/example_bridge_config.yaml" />
    <!-- Optionally override domain IDs -->
    <arg name="from_domain" value="42" />
    <arg name="to_domain" value="43" />
  </include>
</launch>

C++ library

There is a C++ API that can be integrated into your own process, you can find the API docs here.

Changelog for package domain_bridge

0.5.0 (2022-05-12)

• Fix API docs link (#67)
• Fixes for Ubuntu Jammy (#66)
• Support loading domain bridge settings from multiple yaml files (#64)
• Auto remove bridge when endpoint removed (#63)
• Do not associate test library with export (#61)
• Add option to wait for subscription before bridging a topic (#52)
• Add missing dependency in test_component_lib (#53)
• Domain bridge container (#32)
• Make some end to end tests more reliable (#51)
• Install CLI parsing header (#45)
• Wait for multiple publishers in get_topic_qos() (#47)
• Use defered service support in rclcpp (#49)
• Use testing repo for CI (#50)
• Run communication-related tests with all available RMWs (#43)
• Fix bug when waiting for service to be available (#42)
• Add reverse option to swap [from]{.title-ref} and [to]{.title-ref} domain IDs (#40)
• Allow bi-directional topic bridging (#39)
• Add [--mode]{.title-ref} argument to [domain_bridge]{.title-ref} (#35)
• Add template method to help bridging services (#26)
• Fix library target install (#36)
• Update CI workflow (#34)
• Prevent bridging from/to same domain id (#33)
• Rti qos profiles patch (#25)
• Add compressing and decompressing modes (#24)
• Refactor to use generic pub/sub from rclcpp (#30)
• Fix bug in generic subscription (#27)
• Contributors: Abrar Rahman Protyasha, Ivan Santiago Paunovic, Jacob Perron, Rebecca Butler

0.3.0 (2021-05-20)

• Override handle_serialized_message (#21)
• Do not crash if there's an error querying endpoint info (#20)
• Add topic remapping (#19)
• Fix doc link in readme (#18)
• Contributors: Chris Lalancette, Jacob Perron, Tully Foote

0.2.0 (2021-04-08)

• Stop installing test resources (#17)
• Add explicit link against stdc++fs (#16)
• Contributors: Scott K Logan

0.1.0 (2021-04-05)

• Change default value of deadline and lifespan (#15)
• Include rclcpp from-source in CI
• Add missing test dependency
• Add QoS overriding
• Add launch file (#9)
• Ignore generated Python files (#12)
• Add '--from' and '--to' options to executable + add tests (#7)
• Automatically match QoS settings across the bridge (#5)
• Refactor YAML parsing and allow default domain IDs (#6)
• Support for configuring domain bridge with YAML (#4)
• Fix topic bridge less operator (#3)
• Add GitHub workflow for CI
• Add unit tests
• Add domain bridge library (#1)
• Contributors: Jacob Perron