rosbridge services for rule based name matching #241

athackst · 2020-02-14T20:44:34Z

Updated rosbridge to handle services with rule-based name matching.

Motivating use: ROS2 has more strict rules on variable name format in services than ROS1, requiring a name change between ROS1 and ROS2 variables.

This PR fixes:

names were incorrectly referenced in the inference factory
rule based names had to be completely listed (in order) per service.

Tested: On the AWS Deepracer using this dockerfile

This change is

…#238) Signed-off-by: Dirk Thomas <[email protected]>

Signed-off-by: Dirk Thomas <[email protected]> Signed-off-by: Allison Thackston <[email protected]>

…os2#236) Signed-off-by: Dirk Thomas <[email protected]> Signed-off-by: Allison Thackston <[email protected]>

Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Allison Thackston <[email protected]>

Signed-off-by: Allison Thackston <[email protected]>

dirk-thomas · 2020-02-14T20:50:34Z

The PR seems to undo changes recently merged as part of #234?

(Also please sign off the commits to pass DCO.)

athackst · 2020-02-14T20:53:00Z

Working on the DCO.

And yes, I tried those changes, but they didn't work for me 🤷‍♀️

Signed-off-by: Allison Thackston <[email protected]>

athackst · 2020-02-14T21:06:02Z

DCO complete.

It would probably be good to add a unit test to better test the services. I was able to test it with my bot, but I'm unaware of a ROS package that has service name differences that's already a part of the ROS ecosystem that also has unit tests.

Alternatively we could add one in this package, but that would mean it would need to be compiled with ROS1 and ROS2 (and be different) and this package is already somewhat tricky to setup.

athackst · 2020-02-23T05:19:05Z

Any other changes requested on this?

dirk-thomas · 2020-02-25T22:31:23Z

Any other changes requested on this?

My previous comment still applies:

The PR seems to undo changes recently merged as part of #234?

"I tried those changes, but they didn't work for me" isn't a satisfactory answer for reverting it in this PR.

athackst · 2020-02-27T07:56:56Z

Here's a detailed console output of the current eloquent branch which appears to be incomplete in actually mapping services of different names in a rosbridge.

Output

Step 28/50 : RUN mkdir -p src && cd src && git clone --branch eloquent https://github.com/ros2/ros1_bridge.git && cd ../ && colcon build --merge-install --packages-select ros1_bridge --cmake-force-configure --install-base /opt/ros/eloquent
 ---> Running in a79e8d132fc2
Cloning into 'ros1_bridge'...
Starting >>> ros1_bridge
--- stderr: ros1_bridge
CMake Warning at /opt/ros/eloquent/share/actionlib_msgs/cmake/actionlib_msgsConfig.cmake:29 (message):
  Package 'actionlib_msgs' is deprecated (This package will be removed in a
  future ROS distro, once the ROS 1 bridge supports actions.)
Call Stack (most recent call first):
  CMakeLists.txt:94 (find_package)


/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__ActiveStateSrv__factories.cpp:124:6: error: redefinition of ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_1_to_2(const ROS1Request&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request&) [with ROS1_T = ctrl_pkg::ActiveStateSrv; ROS2_T = ctrl_pkg::srv::ActiveStateSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request = ctrl_pkg::ActiveStateSrvRequest_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request = ctrl_pkg::srv::ActiveStateSrv_Request_<std::allocator<void> >]’
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::ActiveStateSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::ActiveStateSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_1_to_2(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__ActiveStateSrv__factories.cpp:71:6: note: ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_1_to_2(const ROS1Request&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request&) [with ROS1_T = ctrl_pkg::ActiveStateSrv; ROS2_T = ctrl_pkg::srv::ActiveStateSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request = ctrl_pkg::ActiveStateSrvRequest_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request = ctrl_pkg::srv::ActiveStateSrv_Request_<std::allocator<void> >]’ previously declared here
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::ActiveStateSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::ActiveStateSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_1_to_2(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__ActiveStateSrv__factories.cpp:137:6: error: redefinition of ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_1_to_2(const ROS1Response&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response&) [with ROS1_T = ctrl_pkg::ActiveStateSrv; ROS2_T = ctrl_pkg::srv::ActiveStateSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response = ctrl_pkg::ActiveStateSrvResponse_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response = ctrl_pkg::srv::ActiveStateSrv_Response_<std::allocator<void> >]’
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::ActiveStateSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::ActiveStateSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_1_to_2(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__ActiveStateSrv__factories.cpp:84:6: note: ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_1_to_2(const ROS1Response&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response&) [with ROS1_T = ctrl_pkg::ActiveStateSrv; ROS2_T = ctrl_pkg::srv::ActiveStateSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response = ctrl_pkg::ActiveStateSrvResponse_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response = ctrl_pkg::srv::ActiveStateSrv_Response_<std::allocator<void> >]’ previously declared here
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::ActiveStateSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::ActiveStateSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_1_to_2(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__ActiveStateSrv__factories.cpp:150:6: error: redefinition of ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_2_to_1(const ROS2Request&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request&) [with ROS1_T = ctrl_pkg::ActiveStateSrv; ROS2_T = ctrl_pkg::srv::ActiveStateSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request = ctrl_pkg::srv::ActiveStateSrv_Request_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request = ctrl_pkg::ActiveStateSrvRequest_<std::allocator<void> >]’
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::ActiveStateSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::ActiveStateSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_2_to_1(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__ActiveStateSrv__factories.cpp:97:6: note: ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_2_to_1(const ROS2Request&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request&) [with ROS1_T = ctrl_pkg::ActiveStateSrv; ROS2_T = ctrl_pkg::srv::ActiveStateSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request = ctrl_pkg::srv::ActiveStateSrv_Request_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request = ctrl_pkg::ActiveStateSrvRequest_<std::allocator<void> >]’ previously declared here
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::ActiveStateSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::ActiveStateSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_2_to_1(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__ActiveStateSrv__factories.cpp:163:6: error: redefinition of ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_2_to_1(const ROS2Response&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response&) [with ROS1_T = ctrl_pkg::ActiveStateSrv; ROS2_T = ctrl_pkg::srv::ActiveStateSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response = ctrl_pkg::srv::ActiveStateSrv_Response_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response = ctrl_pkg::ActiveStateSrvResponse_<std::allocator<void> >]’
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::ActiveStateSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::ActiveStateSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_2_to_1(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__ActiveStateSrv__factories.cpp:110:6: note: ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_2_to_1(const ROS2Response&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response&) [with ROS1_T = ctrl_pkg::ActiveStateSrv; ROS2_T = ctrl_pkg::srv::ActiveStateSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response = ctrl_pkg::srv::ActiveStateSrv_Response_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response = ctrl_pkg::ActiveStateSrvResponse_<std::allocator<void> >]’ previously declared here
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::ActiveStateSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::ActiveStateSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_2_to_1(
 ~     
make[2]: *** [CMakeFiles/ros1_bridge.dir/generated/ctrl_pkg__srv__ActiveStateSrv__factories.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__NavThrottleSrv__factories.cpp:124:6: error: redefinition of ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_1_to_2(const ROS1Request&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request&) [with ROS1_T = ctrl_pkg::NavThrottleSrv; ROS2_T = ctrl_pkg::srv::NavThrottleSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request = ctrl_pkg::NavThrottleSrvRequest_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request = ctrl_pkg::srv::NavThrottleSrv_Request_<std::allocator<void> >]’
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::NavThrottleSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::NavThrottleSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_1_to_2(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__NavThrottleSrv__factories.cpp:71:6: note: ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_1_to_2(const ROS1Request&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request&) [with ROS1_T = ctrl_pkg::NavThrottleSrv; ROS2_T = ctrl_pkg::srv::NavThrottleSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request = ctrl_pkg::NavThrottleSrvRequest_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request = ctrl_pkg::srv::NavThrottleSrv_Request_<std::allocator<void> >]’ previously declared here
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::NavThrottleSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::NavThrottleSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_1_to_2(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__NavThrottleSrv__factories.cpp:137:6: error: redefinition of ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_1_to_2(const ROS1Response&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response&) [with ROS1_T = ctrl_pkg::NavThrottleSrv; ROS2_T = ctrl_pkg::srv::NavThrottleSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response = ctrl_pkg::NavThrottleSrvResponse_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response = ctrl_pkg::srv::NavThrottleSrv_Response_<std::allocator<void> >]’
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::NavThrottleSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::NavThrottleSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_1_to_2(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__NavThrottleSrv__factories.cpp:84:6: note: ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_1_to_2(const ROS1Response&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response&) [with ROS1_T = ctrl_pkg::NavThrottleSrv; ROS2_T = ctrl_pkg::srv::NavThrottleSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response = ctrl_pkg::NavThrottleSrvResponse_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response = ctrl_pkg::srv::NavThrottleSrv_Response_<std::allocator<void> >]’ previously declared here
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::NavThrottleSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::NavThrottleSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_1_to_2(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__NavThrottleSrv__factories.cpp:150:6: error: redefinition of ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_2_to_1(const ROS2Request&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request&) [with ROS1_T = ctrl_pkg::NavThrottleSrv; ROS2_T = ctrl_pkg::srv::NavThrottleSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request = ctrl_pkg::srv::NavThrottleSrv_Request_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request = ctrl_pkg::NavThrottleSrvRequest_<std::allocator<void> >]’
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::NavThrottleSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::NavThrottleSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_2_to_1(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__NavThrottleSrv__factories.cpp:97:6: note: ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_2_to_1(const ROS2Request&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request&) [with ROS1_T = ctrl_pkg::NavThrottleSrv; ROS2_T = ctrl_pkg::srv::NavThrottleSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Request = ctrl_pkg::srv::NavThrottleSrv_Request_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Request = ctrl_pkg::NavThrottleSrvRequest_<std::allocator<void> >]’ previously declared here
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::NavThrottleSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::NavThrottleSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_2_to_1(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__NavThrottleSrv__factories.cpp:163:6: error: redefinition of ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_2_to_1(const ROS2Response&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response&) [with ROS1_T = ctrl_pkg::NavThrottleSrv; ROS2_T = ctrl_pkg::srv::NavThrottleSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response = ctrl_pkg::srv::NavThrottleSrv_Response_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response = ctrl_pkg::NavThrottleSrvResponse_<std::allocator<void> >]’
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::NavThrottleSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::NavThrottleSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_2_to_1(
 ~     
/workspaces/ros1_bridge/build/ros1_bridge/generated/ctrl_pkg__srv__NavThrottleSrv__factories.cpp:110:6: note: ‘void ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::translate_2_to_1(const ROS2Response&, ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response&) [with ROS1_T = ctrl_pkg::NavThrottleSrv; ROS2_T = ctrl_pkg::srv::NavThrottleSrv; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS2Response = ctrl_pkg::srv::NavThrottleSrv_Response_<std::allocator<void> >; ros1_bridge::ServiceFactory<ROS1_T, ROS2_T>::ROS1Response = ctrl_pkg::NavThrottleSrvResponse_<std::allocator<void> >]’ previously declared here
 void ServiceFactory<
      ^~~~~~~~~~~~~~~
   ctrl_pkg::NavThrottleSrv,
   ~~~~~~~~~~~~~~~~~~~~~~~~~
   ctrl_pkg::srv::NavThrottleSrv
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 >::translate_2_to_1(
 ~     
make[2]: *** [CMakeFiles/ros1_bridge.dir/generated/ctrl_pkg__srv__NavThrottleSrv__factories.cpp.o] Error 1
make[1]: *** [CMakeFiles/ros1_bridge.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< ros1_bridge        [ Exited with code 2 ]
[Processing: ros1_bridge]

Summary: 0 packages finished [42.3s]
  1 package failed: ros1_bridge
  1 package had stderr output: ros1_bridge

And a corresponding dockerfile to reproduce:

Dockerfile

# Dockerfile to bridge the ros1 and ros2 messages
#
# Build the ros1 messages
# ------------------------
FROM athackst/ros:melodic-dev as ros_builder

WORKDIR /workspaces/ros

RUN mkdir -p src && cd src \
 && git clone --branch kinetic https://github.com/athackst/aws_deepracer_msgs.git \
 && cd ../ \
 && catkin_make install -DCMAKE_INSTALL_PREFIX=/opt/ros/melodic

#
# Build the ros2 messages
# ------------------------
FROM athackst/ros2:eloquent-dev as ros2_builder

WORKDIR /workspaces/ros2

RUN mkdir -p src && cd src \
 && git clone --branch eloquent https://github.com/athackst/aws_deepracer_msgs.git \
 && cd ../ \
 && colcon build --merge-install --install-base /opt/ros/eloquent

#
# Build the ros1_bridge
# -----------------------
FROM athackst/ros2:eloquent-dev as ros1_bridge_builder

# install melodic
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
  && apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
  && apt-get update \
  && apt-get install -y ros-melodic-ros-base \
  && rm -rf /var/lib/apt/lists/*

# Get the ros messages
COPY --from=ros_builder /opt/ros/melodic /opt/ros/melodic

# Get the ros2 messages
COPY --from=ros2_builder /opt/ros/eloquent/ /opt/ros/eloquent

# Deps for the bridge
RUN apt-get update && apt-get install -y \
  # Test deps
  ros-eloquent-demo-nodes-cpp \
  ros-eloquent-launch-testing \
  ros-eloquent-launch-testing-ament-cmake \
  ros-eloquent-launch-testing-ros \
  ros-melodic-rospy-tutorials \
  ros-melodic-roscpp-tutorials \
  # Build deps
  libboost-filesystem-dev \
  libboost-math-dev \
  libboost-regex-dev \
  libboost-signals-dev \
  libboost-thread-dev \
  liblog4cxx-dev \
  && rm -rf /var/lib/apt/lists/*

# Set up the environment
ENV LD_LIBRARY_PATH=/opt/ros/eloquent/lib:/opt/ros/melodic/lib
ENV AMENT_PREFIX_PATH=/opt/ros/eloquent
ENV ROS_ETC_DIR=/opt/ros/melodic/etc/ros
ENV COLCON_PREFIX_PATH=/opt/ros/eloquent
ENV ROS_ROOT=/opt/ros/melodic/share/ros
ENV ROS_MASTER_URI=http://localhost:11311
ENV ROS_VERSION=2
ENV ROS_LOCALHOST_ONLY=0
ENV ROS_PYTHON_VERSION=3
ENV PYTHONPATH=/opt/ros/eloquent/lib/python3.6/site-packages:/opt/ros/melodic/lib/python2.7/dist-packages
ENV ROS_PACKAGE_PATH=/opt/ros/melodic/share
ENV ROSLISP_PACKAGE_DIRECTORIES=
ENV PATH=/opt/ros/eloquent/bin:/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
ENV PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig
ENV CMAKE_PREFIX_PATH=/opt/ros/eloquent:/opt/ros/melodic

# Build the bridge
WORKDIR /workspaces/ros1_bridge
RUN mkdir -p src && cd src \
&& git clone --branch eloquent https://github.com/ros2/ros1_bridge.git \
&& cd ../ \
&& colcon build --merge-install --packages-select ros1_bridge --cmake-force-configure --install-base /opt/ros/eloquent

athackst · 2020-03-15T20:15:02Z

To be fair, my intention isn't to "revert a PR" -- it's to make service mapping work.

I have now provided an example of the output I was seeing with the current state of the code, as well as a dockerfile for you to reproduce it on your end. I don't believe I'm doing something wrong in my set up. If I have, please let me know what I did wrong?

I was able to successfully map services after I made changes to the code base, which I'm sharing here, since I thought it might be valuable to others.

athackst · 2020-05-12T07:01:17Z

Ping @nuclearsandwich.

Any update on this?

dirk-thomas and others added 5 commits February 5, 2020 10:59

code style only: wrap after open parenthesis if not in one line (ros2…

e54fd4c

…#238) Signed-off-by: Dirk Thomas <[email protected]>

fix service with custom mapped message field (ros2#234)

9bea860

Signed-off-by: Dirk Thomas <[email protected]> Signed-off-by: Allison Thackston <[email protected]>

fix building test when ROS 1 diagnostic_msgs is isolated from roscpp (r…

b5fb432

…os2#236) Signed-off-by: Dirk Thomas <[email protected]> Signed-off-by: Allison Thackston <[email protected]>

0.8.2

f88d12a

Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Allison Thackston <[email protected]>

added ability to map custom service field names

309ece6

Signed-off-by: Allison Thackston <[email protected]>

dirk-thomas added enhancement New feature or request question Further information is requested requires-changes labels Feb 14, 2020

formatting

9bee811

Signed-off-by: Allison Thackston <[email protected]>

athackst force-pushed the eloquent_dev branch from 00869ba to 9bee811 Compare February 14, 2020 20:54

Merge remote-tracking branch 'upstream/master' into eloquent_dev

eb702f7

Signed-off-by: Allison Thackston <[email protected]>

claireyywang assigned nuclearsandwich Mar 26, 2020

Merge remote-tracking branch 'upstream/eloquent' into eloquent_dev

7436e83

athackst changed the base branch from master to eloquent July 23, 2020 06:43

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rosbridge services for rule based name matching #241

rosbridge services for rule based name matching #241

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rosbridge services for rule based name matching #241

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rosbridge services for rule based name matching #241

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