domain_bridge

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

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

Prerequisites

• ROS 2 (Galactic or newer)

Installation

Ubuntu 20.04

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

sudo apt install ros-$ROS_DISTRO-domain-bridge

From source

Prerequisites:

• Git
• colcon (colcon_cmake)

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

Usage

CLI

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

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

ros2 run domain_bridge domain_bridge examples/example_bridge_config.yaml

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

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

Use the --help option for more usage information:

ros2 run domain_bridge domain_bridge --help

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

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

Launch

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

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

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

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

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

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

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

C++ library

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

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).