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https://github.com/ros2/domain_bridge
Bridge communication across different ROS 2 domains.
https://github.com/ros2/domain_bridge
Last synced: about 1 month ago
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Bridge communication across different ROS 2 domains.
- Host: GitHub
- URL: https://github.com/ros2/domain_bridge
- Owner: ros2
- License: apache-2.0
- Created: 2021-02-24T02:15:45.000Z (almost 4 years ago)
- Default Branch: main
- Last Pushed: 2023-01-02T19:45:45.000Z (almost 2 years ago)
- Last Synced: 2023-03-11T12:03:31.732Z (almost 2 years ago)
- Language: C++
- Size: 250 KB
- Stars: 26
- Watchers: 18
- Forks: 6
- Open Issues: 8
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
- Contributing: CONTRIBUTING.md
- License: LICENSE
Awesome Lists containing this project
README
# domain_bridge
A ROS 2 domain bridge.
Bridges ROS communication between different ROS domain IDs.
See the [design document](doc/design.md) for more details about how the bridge works.
## Prerequisites
- [ROS 2](https://index.ros.org/doc/ros2/Installation) (Galactic or newer)
## Installation
### Ubuntu 20.04
Replace `$ROS_DISTRO` with the ROS codename (e.g. `galactic`):
```
sudo apt install ros-$ROS_DISTRO-domain-bridge
```
### From source
**Prerequisites:**
- Git
- [colcon](https://colcon.readthedocs.io/) (colcon_cmake)
```
mkdir -p domain_bridge_ws/src
cd domain_bridge_ws
git clone https://github.com/ros2/domain_bridge.git src/
colcon build
```
## Usage
### CLI
There is a standalone executable that can be configured via a YAML file.
You must provide the path to a YAML configuration file as the last argument to the executable.
For example,
```sh
ros2 run domain_bridge domain_bridge examples/example_bridge_config.yaml
```
There are also options to override the domain IDs set for all entities in the YAML config,
for example,
```sh
ros2 run domain_bridge domain_bridge --from 7 --to 8 examples/example_bridge_config.yaml
```
Use the `--help` option for more usage information:
```sh
ros2 run domain_bridge domain_bridge --help
```
You can also load composable nodes alongside the domain bridge to allow for intra-process communication.
Use the extra argument `domain_id` to set the domain ID for each loaded component:
```sh
ros2 component load /ComponentManager composition composition::Talker -e domain_id:=1
ros2 component load /ComponentManager composition composition::Listener -e domain_id:=2
```
### Launch
You can also use the example launch script, which takes a required launch argument `config`:
```xml
ros2 launch domain_bridge domain_bridge.launch.xml config:=examples/example_bridge_config.yaml
```
You can also override domain IDs with optional launch arguments `from_domain` and `to_domain`.
To reverse the `from` and `to` domain IDs for a topic, set the `reversed` argument to `true`.
To enable bidirectional bridging of a topic, set the `bidirectional` argument to `true`.
Here is an example of including the domain bridge launch script into your own:
```xml
```
### C++ library
There is a C++ API that can be integrated into your own process, you can find the [API docs here](https://docs.ros.org/en/ros2_packages/rolling/api/domain_bridge/index.html).