README.md

-# ROS1 Bridge Custom Interfaces w/ Humble on 22.04 (jammy)
+# ROS1 Bridge: Custom Messages and Services between ROS1 and ROS2 Humble on Ubuntu 22.04 (jammy)
+There is an Ubuntu Focal (20.04) version of this here: https://code.research.uts.edu.au/157607/custom-bridge-focal-example
 
 
-1. run `./run.sh -b` to build the docker image, copy custom msgs into the docker image and compile ros1 bridge
+# Build and run
 
-2. `./run.sh -r` to launch the container and interract with bridge, ros1 and ros2.
+Everything runs in a docker container, so it doesn't matter what your local machine has. 
 
-3. test the bridge
+**1. run `./run.sh -b` to build the docker image, copy custom msgs into the docker image and compile ros1 bridge.** 
+
+This can take a while (we had it take 2305 sec on an XPS 15 9520).
+
+**2. `./run.sh -r` to launch the container and interact with bridge, ros1 and ros2.**
+
+Use `docker exec` to get into the containers and run stuff.
+
+**3. test the bridge**
+
+(this is not currently working `ros1_bridge not found`)
+
+```
+    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
+
+```
+
+
+## info
+
+the docker image has pre-compiled custom ros1 msgs and ros2 msgs for a custom_bridge example package.
+
+* No ros1 desktop install, nothing to source, upon launching fresh shell run `rosversion -d` to return Debian as distro.
+
+* `$HOME/ros2_ws` contains ros2 humble install from src 
+
+* `$HOME/custom_bridge_ros1_ws` contains ros1 custom package
+
+* `$HOME/custom_bridge_ros2_ws` contains ros2 custom package
+
+* `$HOME/ros1_bridge_ws` contains ros1_bridge src files and pre-compiled build
+
+you can run the container to interact/launch ros1 & ros2 nodes.
+
+
+## example 1: custom msg example
+
+* ros1 talker (publish string) 
+* ros2 listener (subscribe to ros1 topic expecting string)
+
+`rostopic` or `ros2 topic` `echo /custom_state_topic`
+
+
+1. launch container with `./run.sh -r --src`, then launch multiple shells with `docker exec -it image bash` into the active container.
+
+### Shell 1: roscore 
+
+`source $HOME/ros1_ws/devel/setup.bash && roscore`
+
+### Shell 2: launch bridge
+
+`source $HOME/ros1_bridge_ws/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --bridge-all-topics`
+
+### Shell 3: launch ros1 custom talker node
+
+`source $HOME/custom_bridge_ros1_ws/devel/setup.bash && rosrun custom_bridge_msgs custom_talker`
+
+### Shell 4: launch ros2 custom listener node
+
+`source $HOME/custom_bridge_ros2_ws/install/setup.bash && ros2 run custom_bridge_msgs custom_listener`
+
+
+## example 2: custom service example one 
+
+* ros1 node advertises services
+* ros2 node calls ros1 service from custom ros2 ws
+
+### Shell 1: roscore 
+
+`source $HOME/ros1_ws/devel/setup.bash && roscore`
+
+### Shell 2: launch bridge
+
+`source $HOME/ros1_bridge_ws/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --bridge-all-topics`
+
+### Shell 3: launch ros1 custom service node
+
+`source $HOME/custom_bridge_ros1_ws/devel/setup.bash && rosrun custom_bridge_msgs custom_service_one`
+
+### Shell 4: source custom ros2_ws and call ros1 service from ros2
+
+`source $HOME/custom_bridge_ros2_ws/install/setup.bash && ros2 service call /custom_service_topic`
+
+
+
+## example 3: custom service example two
+
+* ros2 node advertises services
+* ros1 node calls ros2 service from custom ros1 ws
+
+
+### Shell 1: roscore 
+
+`source $HOME/ros1_ws/devel/setup.bash && roscore`
+
+### Shell 2: launch bridge
+
+`source $HOME/ros1_bridge_ws/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --bridge-all-topics`
+
+### Shell 3: launch ros2 custom service node
+
+`source $HOME/custom_bridge_ros2_ws/install/setup.bash && ros2 run custom_bridge_msgs custom_service_two`
+
+### Shell 4: source custom ros1_ws and call ros2 service from ros1
+
+`source $HOME/custom_bridge_ros1_ws/devel/setup.bash && rosservice call /custom_service_topic` 
+(tab to autocomplete)
+
+
+# Important details
+- The message, service, and package names in ROS1 and ROS2 must match. 
+
+# FAQ
+- **What are "State" and "CustomState"?** 
+
+These are examples of custom messages.
+
+- **What about "CustomServiceOne" and "CustomServiceTwo"?** 
+
+These are examples of custom services.
+
+- **What version of ROS1 are you using?** 
+
+Run `rosversion -d` to return `Debian`, not `melodic` or `noetic`. This because we use `ros-core-dev` on Ubuntu 22.04 (as prescribed by ros upstream docs -- https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html)
+
+- **What version of ROS2 are you using?**
+
+ros2 humble installed from src
+
+https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#ros-2-from-source
 
-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
\ No newline at end of file

custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv

-
+int32 index
 ---
 bool success
 float32 reward

custom_bridge_ros2_ws/src/custom_bridge_msgs/CMakeLists.txt

@@ -55,13 +55,12 @@ include_directories(
 add_executable(custom_listener
   "src/custom_listener.cpp"
 )
-
 ament_target_dependencies(custom_listener
   ${pkg_dependencies}
   ${msg_dependencies}
 )
-
 target_link_libraries(custom_listener "${cpp_typesupport_target}") 
+install(TARGETS custom_listener DESTINATION lib/custom_bridge_msgs)
 
 
 
@@ -70,13 +69,12 @@ target_link_libraries(custom_listener "${cpp_typesupport_target}")
 add_executable(custom_service_two
   "src/custom_service_two.cpp"
 )
-
 ament_target_dependencies(custom_service_two
   ${pkg_dependencies}
   ${msg_dependencies}
 )
 target_link_libraries(custom_service_two "${cpp_typesupport_target}") 
-
+install(TARGETS custom_service_two DESTINATION lib/custom_bridge_msgs)
 
 
 ament_export_dependencies(rosidl_default_runtime)

custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv

-
+int32 index
 ---
 bool success
 float32 reward

run.sh

@@ -34,10 +34,6 @@ docker run \
     -it \
     --rm \
     --user "0" \
-    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-    --env DISPLAY=$DISPLAY \
-    --env NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics \
-    --env NVIDIA_VISIBLE_DEVICES=all \
     --name $name \
     $image \
     "/bin/bash"