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)
$ROS_DISTRO with the ROS codename (e.g.
sudo apt install ros-$ROS_DISTRO-domain-bridge
- 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
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
--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
ros2 launch domain_bridge domain_bridge.launch.xml config:=examples/example_bridge_config.yaml
You can also override domain IDs with optional launch arguments
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>
There is a C++ API that can be integrated into your own process, you can find the API docs here.
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