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action_bridge package from action_bridge repoaction_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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