ROS1 Bridge Setup
===============================

Overview
--------

This tutorial walks you through how to setup the ``ros1_bridge`` within the Isaac ROS Docker container for communication between ROS 1 and ROS 2 using topics and services.
The tutorial is based on the `ROS1 Bridge documentation <https://github.com/ros2/ros1_bridge>`__.

.. note::
   ROS actions are not supported by the `ROS1 Bridge <https://github.com/ros2/ros1_bridge>`__

Steps
-----

.. include:: _snippets/setup_ros1_steps.rst

Now, we can setup a dynamic bridge and use the demo talkers/listeners.

#. Run the ``ros1_bridge/dynamic_bridge``:
    
    .. code:: bash

       export ROS_MASTER_URI=http://localhost:11311 && \
       ros2 run ros1_bridge dynamic_bridge --bridge-all-topics

#. **Attach a third terminal** to the Docker container:

    .. code:: bash

       cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
       ./scripts/run_dev.sh ${HOME}/workspaces

#. Source ``ros1_noetic`` and run ``roscore``:

    .. code:: bash

       source /opt/ros/noetic/setup.bash && \
       roscore

#. **Attach a fourth terminal** to the Docker container:

    .. code:: bash

       cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
       ./scripts/run_dev.sh ${HOME}/workspaces

#. Clone ``ros2_tutorials`` into ``isaac_ros_1-dev`` directory to build 
   and run ``rospy_tutorials talker`` publisher node:

   .. code:: bash
      
       source /opt/ros/noetic/setup.bash && \
       cd /workspaces/isaac_ros-dev/isaac_ros_1-dev/src && \
       git clone https://github.com/ros/ros_tutorials.git && \
       cd .. && \
       catkin_make_isolated --install --only-pkg-with-deps rospy_tutorials && \
       source install_isolated/setup.bash && \
       rosrun rospy_tutorials talker

#. **Attach a fifth terminal** to the Docker container:

    .. code:: bash

       cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
       ./scripts/run_dev.sh ${HOME}/workspaces

#. Source ``ros2_humble`` and run ``demo_nodes_cpp listener`` subscriber node:

    .. code:: bash

       source /opt/ros/humble/setup.bash && \
       ros2 run demo_nodes_cpp listener

#. You should see messages being published from ROS 1 in terminal 4 and see the same messages being received by ROS 2 in terminal 5.

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/nitros_bridge/ros1-bridge-pol.gif>`   
      :width: 1000px
      :align: center