Is it possible to launch a simulation from ros1 and connect to it via ros2 with the api?

asked 2020-09-21 21:23:59 -0500

maclo4 gravatar image

For some background, I am creating a wrapper class for the e.DO robot, which was written with ros1 and launches from ros1. I do not have consistent access to the real robot, so I need to use a simulation. I want to connect to this simulation with ros2 directly and be able to send messages to the e.DO simulation. Previously, I was trying to use the ros1_bridge package, but I was wondering if that is necessary. If not, what would you suggest is the best way to go about this problem?

I am using Gazebo 9, Ubuntu 18.04, ros melodic, and ros2 eloquent.

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Update: With the ros1_bridge I am running into problems because not all of the msg types are available in both ros1 and ros2, any suggestions would be appreciated

maclo4 gravatar imagemaclo4 ( 2020-09-24 14:58:05 -0500 )edit