Step 1: Launch the container
make up
make enter
Step 2: Terminal A - Run roscore in one container
source [ros1]
roscore
Step 3: Terminal B - Source ros2_ws/install/setup.bash
source ros2_ws/install/setup.bash
Step 4: Terminal B - Build the ros2 workspace with the ros1_bridge package
# Takes more than 5 minutes
colon build
OR
# Takes more than 5 minutes
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
Step 5: Terminal B - Launch rosbridge
# First source ROS1
source ${ROS1_INSTALL_PATH}/setup.bash
# Source ROS2
source ${ROS2_INSTALL_PATH}/setup.bash
# Bridge all topics both ways
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
For help
ros2 run ros1_bridge dynamic_bridge --help