domain_bridge package from domain_bridge repo


Package Summary

Tags No category tags.
Version 0.2.0
License Apache 2.0
Build type AMENT_CMAKE

Repository Summary

Checkout URI
VCS Type git
VCS Version main
Last Updated 2021-04-08
CI status No Continuous Integration
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.


  • Jacob Perron


No additional authors.


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.


  • ROS 2 (Galactic or newer)


Ubuntu 20.04

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

sudo apt install ros-$ROS_DISTRO-domain-bridge

From source


mkdir -p domain_bridge_ws/src
cd domain_bridge_ws
git clone src/
colcon build



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 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:

  <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" />

C++ library

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


Changelog for package domain_bridge

0.2.0 (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


No message files found.


No service files found


No plugins found.

Recent questions tagged domain_bridge at