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# ROS1 Bridge Custom Interfaces w/ Humble on 22.04 (jammy)
1. run `./run.sh -b` to build the docker image, copy custom msgs into the docker image and compile ros1 bridge
2. `./run.sh -r` to launch the container and interract with bridge, ros1 and ros2.
3. test the bridge
source /home/nx/ros1_bridge_ws/install/setup.bash && source /home/nx/rosbridge_general_update_ament.sh '/home/nx/ros1_bridge_ws/install' 'ros1_bridge' && ros2 run ros1_bridge dynamic_bridge --print-pairs | grep custom