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action_bridge package from action_bridge repo

action_bridge

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/hsd-dev/action_bridge.git
VCS Type git
VCS Version master
Last Updated 2019-08-28
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Example action bridges for FibonacciAction and FollowJointTrajectoryAction

Additional Links

No additional links.

Maintainers

  • Harshavardhan Deshpande

Authors

  • Harshavardhan Deshpande
  • Mathias Lüdtke

A package to bridge actions between ROS1 and ROS2.

Please clone dashing-devel branch in case you are working with ROS Dashing.

NOTE:

  • Currently supports forwarding goals from ROS1 (melodic) action client to ROS2 (crystal) action server
  • As an example, implemented interfaces for the action bridge for FibonacciAction
    and FollowJointTrajectoryAction

Prerequisites:

(rosdep does not work properly with mixed ROS1 and ROS2 dependencies)

sudo apt install ros-melodic-actionlib ros-melodic-actionlib-tutorials ros-melodic-control-msgs ros-melodic-roscpp ros-crystal-control-msgs ros-crystal-example-interfaces ros-crystal-rclcpp ros-crystal-rclcpp-action

How to build:

Clone the repository in the src folder of your ROS2 workspace.

git clone git@github.com:ipa-hsd/action_bridge.git

Since the package provides a bridge for FollowJointTrajectoryAction, which is part of the control_msgs, clone the package modified for ROS2.

git clone -b crystal-devel git@github.com:ros-controls/control_msgs.git

Since action_bridge package depends on both ROS1 and ROS2, source both workspaces.

source /opt/ros/melodic/local_setup.bash
source /opt/ros/crystal/local_setup.bash
colcon build

Now you are ready to run the action_bridge!
Source this workspace to use the executeables built in the previous step.

source <path-to-workspace>/install/local_setup.bash

2 example executables are available:

  • action_bridge_fibonacci_node and
  • action_bridge_follow_joint_trajectory_node
    You can start one of these nodes in the following manner:
ros2 run action_bridge action_bridge_fibonacci_node

OR

ros2 run action_bridge action_bridge_follow_joint_trajectory_node

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged action_bridge at Robotics Stack Exchange

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