Bridge communication between ROS and Ignition Transport

This package provides a network bridge which enables the exchange of messages between ROS and Ignition Transport.

The bridge is currently implemented in C++. At this point there’s no support for service calls. Its support is limited to only the following message types:

Run ros2 run ros_ign_bridge parameter_bridge -h for instructions.

Example 1a: Ignition Transport talker and ROS 2 listener

Start the parameter bridge which will watch the specified topics.

# Shell A:
. ~/bridge_ws/install/setup.bash
ros2 run ros_ign_bridge parameter_bridge /chatter@std_msgs/msg/String@ignition.msgs.StringMsg

Now we start the ROS listener.

# Shell B:
. /opt/ros/foxy/setup.bash
ros2 topic echo /chatter

Now we start the Ignition Transport talker.

# Shell C:
ign topic pub -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'

Example 1b: ROS 2 talker and Ignition Transport listener

Start the parameter bridge which will watch the specified topics.

# Shell A:
. ~/bridge_ws/install/setup.bash
ros2 run ros_ign_bridge parameter_bridge /chatter@std_msgs/msg/String@ignition.msgs.StringMsg

Now we start the Ignition Transport listener.

# Shell B:
ign topic -e -t /chatter

Now we start the ROS talker.

# Shell C:
. /opt/ros/foxy/setup.bash
ros2 topic pub /chatter std_msgs/msg/String "data: 'Hi'" --once

Example 2: Run the bridge and exchange images

In this example, we’re going to generate Ignition Transport images using Ignition Gazebo, that will be converted into ROS images, and visualized with rqt_image_viewer.

First we start Ignition Gazebo.

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Changelog for package ros_ign_bridge

0.221.2 (2021-07-20)

• Ignore local publications for ROS 2 subscriber (#146)
  • Note: Does not work with all rmw implementations (e.g.: FastRTPS)
• [ros2] Update documentation for installation instructions and bridge examples (#142)
• [foxy] Edifice support (#140)
• [ros2] Add JointTrajectory message conversion (#121) Conversion between
  • ignition::msgs::JointTrajectory
  • trajectory_msgs::msg::JointTrajectory
• Add TFMessage / Pose_V and Float64 / Double conversions (#117) Addresses issue #116
• updated prereq & branch name (#113)
• [ros2] Update releases (#108)
• Updated README.md (#104)
• Add support for Dome (#103)
• Contributors: Alejandro Hernández Cordero, Andrej Orsula, Florent Audonnet, Jenn, Louise Poubel, Luca Della Vedova

0.221.1 (2020-08-19)

• Add pkg-config as a buildtool dependency (#102)
• Port ros_ign_bridge tests to ROS 2 (#98)
• Rename test_utils.hpp (#98)
• Contributors: Louise Poubel, ahcorde

0.221.0 (2020-07-23)

• Install only what's necessary, rename builtin_interfaces (#95)
• Move headers to src, rename builtin_interfaces (#95)
• Integer support (#91) Adds Int32 to the bridge.
• [ros2] Fixed CI - Added Foxy (#89) Co-authored-by: Louise Poubel <<louise@openrobotics.org>>
• Ignore ros-args in parameter bridge (#65)
• Update Dashing docs (#62)
• Update dependencies to Citadel (#57)
• [WIP] Port ign_ros_gazebo_demos to ROS2 (#58) Port ros_ign_image to ROS2 Port ros_ign_gazebo_demos to ROS2
• Add support for std_msgs/Empty (#53)
• Add support for std_msgs/Bool (#50)
• [ros2] Port ros_ign_bridge to ROS2 (#45)
• Enable ROS2 CI for Dashing branch (#43)
• Make all API and comments ROS-version agnostic
• Rename packages and fix compilation + tests
• Move files ros1 -> ros
• Contributors: Addisu Taddese, Alejandro Hernández Cordero, Jose Luis Rivero, Louise Poubel, Luca Della Vedova, Michael Carroll, Mohamed Ahmed, Shivesh Khaitan, chapulina

0.7.0 (2019-08-15)

• Merge pull request #38 from osrf/unidirectional Support unidirectional bridge topics
• More examples
• Merge pull request #37 from osrf/debug Adding debug and error statements
• Switch to characters supported by ros
• Merge branch 'debug' into unidirectional
• More output, and rosconsole depend
• Support specification of bridge direction
• Adding debug and error statements
• Contributors: Nate Koenig

0.6.3 (2019-08-04)

0.6.2 (2019-08-04)

0.6.1 (2019-08-04)

• Update README.md
• Contributors: Carlos Agüero

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