Technology Careers Contact
Documentation Community Download Support

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 We assume your ROS 2 workspace is ~/ros2_ws.

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 ~/ros_ws.

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
cd ~/ros1_bridge_ws/src
git clone -b foxy
source ~/ros_ws/devel/setup.bash
source ~/ros2_ws/install/setup.bash
cd ~/ros1_bridge_ws
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 ~/ros_ws

source ~/ros_ws/devel/setup.bash

In terminal 2: ROS 1 Bridge in workspace ~/ros1_bridge_ws

source ~/ros1_bridge_ws/install/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics

In terminal 3: Luos broker in workspace ~/ros2_ws

Plug some Luos modules before starting the broker.

source ~/ros2_ws/install/setup.bash
ros2 launch luos_interface

In terminal 1: Your ROS 1 app in workspace ~/ros_ws

Let us consider here that rostopic is the ROS 1 app you want to run with Luos modules.

source ~/ros_ws/devel/setup.bash
rostopic list

You can then publish and subscribe to the available topics in ROS 1.

Follow Watch Star

Luos is constantly evolving! Keep in touch to follow the last updates: