domain_bridge package from domain_bridge repo

domain_bridge

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
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

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)
  • Add GitHub workflow for CI
  • Add unit tests
  • Add domain bridge library (#1)
  • Contributors: Jacob Perron

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

domain_bridge package from domain_bridge repo

domain_bridge

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 2023-01-02
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

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)
  • Add GitHub workflow for CI
  • Add unit tests
  • Add domain bridge library (#1)
  • Contributors: Jacob Perron

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged domain_bridge at Robotics Stack Exchange

domain_bridge package from domain_bridge repo

domain_bridge

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 2023-01-02
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

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)
  • Add GitHub workflow for CI
  • Add unit tests
  • Add domain bridge library (#1)
  • Contributors: Jacob Perron

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
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domain_bridge package from domain_bridge repo

domain_bridge

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
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.