ROS 1 retro-compatibility with Luos tutorial
Luos with ROS 1
The ROS 1 Bridge allows ROS 2 packages such as
luos_ros2 to communicate with a ROS 1 ecosystem. However, both ROS 1 and 2 need to be installed, and the bridge takes care of the translation.
This procedure has been tested with ROS 1 Noetic + ROS 2 Foxy and Python 3.8.2 in Ubuntu. It might work with older distributions, although it has not been tested.
1. Install ROS 2 and Luos
Make sure you have first installed ROS 2 and managed to run the broker in ROS 2 with the command
ros2 launch luos_interface broker.launch.py.
We assume your ROS 2 workspace is
2. Install ROS 1 and the ROS 1 bridge
Then install ROS 1 Noetic on Ubuntu 20.04.
We assume your ROS 1 workspace is
3. Initialize the bridge
The bridge has its own workspace that is to be compiled with colcon (ROS 2):
mkdir -p ~/ros1_bridge_ws/src
git clone -b foxy https://github.com/ros2/ros1_bridge.git
colcon build --packages-select ros1_bridge --cmake-force-configure --cmake-args -DBUILD_TESTING=FALSE
4. Start Luos in ROS 1
In terminal 1: ROS Core in workspace
In terminal 2: ROS 1 Bridge in workspace
ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics
In terminal 3: Luos broker in workspace
Plug some Luos services before starting the broker.
ros2 launch luos_interface broker.launch.py
In terminal 1: Your ROS 1 app in workspace
Let us consider that
rostopic is the ROS 1 app you want to run with Luos services.
You can then publish and subscribe to the available topics in ROS 1.