Ros1 Noetic(本地)和Ros2 Humble(docker)之间相互通信及设置初始位姿

一、安装Ros1_bridge

参考文章：https://zhuanlan.zhihu.com/p/1913928957679632486

本地环境

主机Ubuntu20.04 + Ros1 Noetic
Docker (Ubuntu22.04 + Ros2 Humble)

容器内安装ros1_bridge

注意启动容器的时候设置为--network=host

容器内（ubuntu安装ros noetic）

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# Add source
echo "deb [trusted=yes arch=amd64] http://deb.repo.autolabor.com.cn jammy main" | sudo tee /etc/apt/sources.list.d/autolabor.list 
# Update
sudo apt update
# Install
sudo apt install ros-noetic-autolabor


# 验证
source /opt/ros/noetic/setup.sh
roscore

git code

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mkdir -p ros_bridge_ws/src && cd ros_bridge_ws/src
git clone https://github.com/Eku127/ros1_bridge.git

build

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# in the workspace, NO source the setup of ROS1
# on the ros_bridge_ws do compiling
cd ..
colcon build --symlink-install --packages-skip ros1_bridge
# setup ros1
source /opt/ros/noetic/setup.sh
# setup ros2
source /opt/ros/humble/setup.sh
# compiling
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure --event-handlers console_direct+

test，执行下面命令能够弹出支持的转换消息类型
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```
ros2 run ros1_bridge dynamic_bridge --print-pairs
```

使用

注意：在容器内下载ros-noetic-autolabor后，会自动在容器内的~/.bashrc文件内添加source /opt/ros/noetic/setup.bash，请注释该行，否则会影响容器内ros2相关功能包的正常使用。然后Ros1_bridge是在容器内使用，本地Ros1发布话题容器内可以接受并进行转换。

启动ros1_bridge依赖roscore，启动该节点前可以在本地执行roscore，在容器内执行：

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# setup ros1
source /opt/ros/noetic/setup.sh
# setup ros2
source /opt/ros/humble/setup.sh

# work_ws
source ./install/setup.bash  

ros2 run ros1_bridge dynamic_bridge

遇到的问题：
1.使用dynamic_bridge，不会自动转换topic话题，但是可以自动转换server相关的话题。

这里暂时不清楚什么原因，这里只使用位姿转换的话题，涉及少量的话题，可以改进simple_bridge_1_to_2.cpp文件，订阅ros1话题然后转化为ros2话题并进行发布，示例程序如下，注意CMakeLists文件要添加相关依赖。

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#include <iostream>
#include <memory>
#include <utility>
#include <csignal>

// include ROS 1
#ifdef __clang__
# pragma clang diagnostic push
# pragma clang diagnostic ignored "-Wunused-parameter"
#endif
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"
#ifdef __clang__
# pragma clang diagnostic pop
#endif

// include ROS 2
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"

// Publisher 全局变量
rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pub;
std::shared_ptr<rclcpp::Node> node_ptr;

void chatterCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr & ros1_msg)
{
  std::cout << "I heard pose at: [" 
            << ros1_msg->pose.pose.position.x << ", " 
            << ros1_msg->pose.pose.position.y << ", "
            << ros1_msg->pose.pose.position.z << "]" << std::endl;
  
  auto ros2_msg = geometry_msgs::msg::PoseWithCovarianceStamped();
  
  // 复制消息内容
  ros2_msg.header.stamp.sec = ros1_msg->header.stamp.sec;
  ros2_msg.header.stamp.nanosec = ros1_msg->header.stamp.nsec;
  ros2_msg.header.frame_id = ros1_msg->header.frame_id;
  
  ros2_msg.pose.pose.position.x = ros1_msg->pose.pose.position.x;
  ros2_msg.pose.pose.position.y = ros1_msg->pose.pose.position.y;
  ros2_msg.pose.pose.position.z = ros1_msg->pose.pose.position.z;
  
  ros2_msg.pose.pose.orientation.x = ros1_msg->pose.pose.orientation.x;
  ros2_msg.pose.pose.orientation.y = ros1_msg->pose.pose.orientation.y;
  ros2_msg.pose.pose.orientation.z = ros1_msg->pose.pose.orientation.z;
  ros2_msg.pose.pose.orientation.w = ros1_msg->pose.pose.orientation.w;
  
  for (size_t i = 0; i < 36; ++i) {
    ros2_msg.pose.covariance[i] = ros1_msg->pose.covariance[i];
  }
  
  std::cout << "Passing along pose to ROS2 and shutting down node" << std::endl;
  pub->publish(ros2_msg);

  // 关闭 ROS1 和 ROS2
  ros::shutdown();
  rclcpp::shutdown();
}

int main(int argc, char * argv[])
{
  // 初始化 ROS 2
  rclcpp::init(argc, argv);
  node_ptr = rclcpp::Node::make_shared("talker");
  
  pub = node_ptr->create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>("initialpose", 10);
  
  // 初始化 ROS 1
  ros::init(argc, argv, "listener");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("initialpose", 10, chatterCallback);
  
  // ROS1 spin 阻塞，收到消息后回调将会关闭节点
  ros::spin();
  
  return 0;
}

然后执行：

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ros2 run ros1_bridge simple_bridge_1_to_2

不过上面还存在一定BUG，暂时不清楚原因：先启动该节点，然后再发布话题，该节点接收不到话题。但是先在本地发布话题，容器内再启动该节点，就能够实现正常功能。