==============
|package_name|
==============

:ir_github:`<isaac_ros_nitros_bridge> <isaac_ros_nitros_bridge_ros1>`

API
----

Usage
^^^^^

.. code:: bash

   roslaunch isaac_ros_nitros_bridge_ros1 r2b_converter.launch

ROS Parameters
^^^^^^^^^^^^^^
============== ======= ======= =============================================
ROS Parameter  Type    Default Description
============== ======= ======= =============================================
``num_blocks`` ``int`` ``40``  The number of pre-allocated GPU memory blocks
============== ======= ======= =============================================

.. _ros-topics-subscribed-1:

ROS Topics Subscribed
^^^^^^^^^^^^^^^^^^^^^

=========================== ====================================================================================================================================================================================== =======================================================
ROS Topic                   Type                                                                                                                                                                                   Description
=========================== ====================================================================================================================================================================================== =======================================================
``ros1_input_image``        `sensor_msgs/Image <https://github.com/ros/common_msgs/blob/noetic-devel/sensor_msgs/msg/Image.msg>`__                                                                                 Input ROS1 image to be converted to NITROS bridge image
``ros1_input_bridge_image`` :ir_repo:`isaac_ros_nitros_bridge_msgs/NitrosBridgeImage <isaac_ros_noetic_interfaces> <isaac_ros_nitros_bridge_msgs/msg/NitrosBridgeImage.msg>`                                       Input NITROS bridge image to be converted to ROS1 image
=========================== ====================================================================================================================================================================================== =======================================================

.. _ros-topics-published-1:

ROS Topics Published
^^^^^^^^^^^^^^^^^^^^

============================ ====================================================================================================================================================================================== ====================================================
ROS Topic                    Interface                                                                                                                                                                              Description
============================ ====================================================================================================================================================================================== ====================================================
``ros1_output_image``        `sensor_msgs/Image <https://github.com/ros/common_msgs/blob/noetic-devel/sensor_msgs/msg/Image.msg>`__                                                                                 Output ROS1 image converted from NITROS bridge image
``ros1_output_bridge_image`` :ir_repo:`isaac_ros_nitros_bridge_msgs/NitrosBridgeImage <isaac_ros_noetic_interfaces> <isaac_ros_nitros_bridge_msgs/msg/NitrosBridgeImage.msg>`                                       Output NITROS bridge image converted from ROS1 image
============================ ====================================================================================================================================================================================== ====================================================

.. |package_name| replace:: ``isaac_ros_nitros_bridge_ros1``