Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version main
Last Updated 2025-01-09
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
kilted

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version main
Last Updated 2025-01-09
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
rolling

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version main
Last Updated 2025-01-09
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
galactic

Package Summary

Tags No category tags.
Version 0.4.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version galactic
Last Updated 2021-10-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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.

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

Changelog for package domain_bridge

0.4.0 (2021-10-22)

  • Make some end to end tests more reliable (#51)
  • Install CLI parsing header (#45)
  • Run communication-related tests with all available RMWs (#43)
  • Fix bug when waiting for service to be available (#42) (#55)
  • Update CI to target Galactic (#37)
  • 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 option to run callback before creating new Domain
    • Add a domain_bridge executable that allows to load an RTI qos profile before creating a new domain participant
  • Add compressing and decompressing modes (#24)
  • Refactor to use generic pub/sub from rclcpp (#30)
  • Fix bug in generic subscription (#27)
  • Contributors: 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

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
iron

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version main
Last Updated 2025-01-09
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

domain_bridge package from domain_bridge repo

domain_bridge

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.5.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/domain_bridge.git
VCS Type git
VCS Version humble
Last Updated 2022-09-30
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS 2 Domain Bridge

Additional Links

No additional links.

Maintainers

  • Jacob Perron

Authors

No additional authors.

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:

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

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)

File truncated at 100 lines see the full file

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange