===========
|repo_name|
===========

.. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nitros_bridge/isaac_ros_nitros_bridge_overview.png>`
    :width: 500px
    :align: center

Overview
--------

.. include:: _snippets/overview.rst

Packages
--------

.. toctree::
    :maxdepth: 2
    :glob:

    **/index


Supported Platforms
-------------------

.. include:: _snippets/supported_platforms.rst


Quickstart
----------

.. include:: /concepts/nitros_bridge/_snippets/setup_ros1_steps.rst

Now, we can playback a test rosbag through the bridge. The launch file will 
send out the images from the rosbag through the NITROS bridge from ROS 2 to 
ROS 1, then echo back to ROS2 for visualize.

#. Pull down a rosbag of sample data:

   .. code:: bash

      cd /workspaces/isaac_ros-dev/isaac_ros-dev/src/isaac_ros_nitros_bridge && \ 
        git lfs pull -X "" -I "resources/quickstart.bag"


#. (Optional) Run tests to verify complete and correct installation:

   .. code:: bash

      cd /workspaces/isaac_ros-dev/isaac_ros-dev && \
      colcon test --executor sequential --packages-skip ros1_bridge

#. Run the following launch files to spin up a demo of this package:

   .. code:: bash

      cd /workspaces/isaac_ros-dev/isaac_ros-dev && \
      source install/setup.bash && \
      ros2 launch isaac_ros_nitros_bridge_ros2 isaac_ros_nitros_bridge.launch.py rosbag_path:=/workspaces/isaac_ros-dev/isaac_ros-dev/src/isaac_ros_nitros_bridge/resources/quickstart.bag/ ros1_ws_path:=/workspaces/isaac_ros-dev/isaac_ros_1-dev/

#. Attach another terminal to the container, visualize the output topic ``/ros2_output_image`` in RViz:

   .. code:: bash

      source isaac_ros-dev/install/setup.bash && \
        rviz2


Try Another Example
-------------------

For an example of a more advanced setup with talkers and listeners, see :doc:`here</concepts/nitros_bridge/ros1_bridge_setup>`.
For an example to run DNN image segmentation with NITROS bridge, see :doc:`here</concepts/nitros_bridge/unet_with_nitros_bridge>`.

.. toctree::
    :hidden:

    /concepts/nitros_bridge/ros1_bridge_setup.rst
    /concepts/nitros_bridge/unet_with_nitros_bridge.rst

    

Troubleshooting
---------------

Could not find a package configuration file provided by ``ament_cmake_auto``
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Symptoms
~~~~~~~~

If you have both ROS 1 and ROS 2 installed in the Docker environment,
you may see the following error message while building ROS 2 packages:

 .. code:: bash

  Could not find a package configuration file provided by "ament_cmake_auto"
  with any of the following names:
    ament_cmake_autoConfig.cmake
    ament_cmake_auto-config.cmake

Solution
~~~~~~~~

You must source ``setup.bash`` from the ROS 2 installation before building:

 .. code:: bash

   source /opt/ros/humble/setup.bash


Updates
-------
.. include:: _snippets/updates.rst

.. |repo_name| replace:: Isaac ROS NITROS Bridge