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Hi,

To give you an example: /chatter@std_msgs/String@ignition.msgs.StringMsg

  • chatter is the ignition topic name. This topic will be created in the ROS 2 network with the same name
  • std_msgs/String ROS type msgs
  • ignition.msgs.StringMsg: Ignition type msgs

If you want to create a launch file, you have a look to this launch file. The key part:

# Bridge
bridge = Node(
    package='ros_ign_bridge',
    executable='parameter_bridge',
    arguments=['/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
               '/model/vehicle_blue/battery/linear_battery/state@sensor_msgs/msg/BatteryState@ignition.msgs.BatteryState'],
    output='screen'
)

Hope this help