Parametrization of parameter_bridge quality of service [Port of the…

… commits (ec44770) and (86b4245) to foxy branch] (#401)

* Port of the commit (ec44770) to foxy branch

Just reproduces the changes made in #331 in ros foxy.

Parametrize Quality of Service in `parameter_bridge`

Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com>

* Port of the commit (86b4245) to foxy branch

Reproduces the changes made in #371 in ros foxy.

Move xmlrpcpp find_package so it only searches if ROS 1 is found

Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com>

* CI fix

White spaces removed
Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com>

---------

Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com>

CMakeLists.txt

@@ -41,6 +41,10 @@ endif()
 
 find_ros1_package(std_msgs REQUIRED)
 
+# Dependency that we should only look for if ROS 1 is installed (it's not present on a ROS 2
+# system; see https://github.com/ros2/ros1_bridge/pull/331#issuecomment-1188111510)
+find_package(xmlrpcpp REQUIRED)
+
 # find ROS 1 packages with messages / services
 include(cmake/find_ros1_interface_packages.cmake)
 find_ros1_interface_packages(ros1_message_packages)

README.md

@@ -346,3 +346,120 @@ Launch AddTwoInts client:
 . <ros2-install-dir>/setup.bash
 ros2 run demo_nodes_cpp add_two_ints_client
 ```
+
+## Example 4: bridge only selected topics and services
+This example expands on example 3 by selecting a subset of topics and services to be bridged.
+This is handy when, for example, you have a system that runs most of it's stuff in either ROS 1 or ROS 2 but needs a few nodes from the 'opposite' version of ROS.
+Where the `dynamic_bridge` bridges all topics and service, the `parameter_bridge` uses the ROS 1 parameter server to choose which topics and services are bridged.
+For example, to bridge only eg. the `/chatter` topic and the `/add_two_ints service` from ROS1 to ROS2, create this configuration file, `bridge.yaml`:
+
+```yaml
+topics:
+  -
+    topic: /chatter  # ROS1 topic name
+    type: std_msgs/msg/String  # ROS2 type name
+    queue_size: 1  # For the publisher back to ROS1
+services_1_to_2:
+  -
+    service: /add_two_ints  # ROS1 service name
+    type: example_interfaces/srv/AddTwoInts  # The ROS2 type name
+```
+
+Start a ROS 1 roscore:
+
+```bash
+# Shell A (ROS 1 only):
+. /opt/ros/melodic/setup.bash
+# Or, on OSX, something like:
+# . ~/ros_catkin_ws/install_isolated/setup.bash
+roscore
+```
+
+Then load the bridge.yaml config file and start the talker to publish on the `/chatter` topic:
+
+```bash
+Shell B: (ROS1 only):
+. /opt/ros/melodic/setup.bash
+# Or, on OSX, something like:
+# . ~/ros_catkin_ws/install_isolated/setup.bash
+rosparam load bridge.yaml
+
+rosrun rospy_tutorials talker
+```
+
+```bash
+Shell C: (ROS1 only):
+. /opt/ros/melodic/setup.bash
+# Or, on OSX, something like:
+# . ~/ros_catkin_ws/install_isolated/setup.bash
+
+rosrun roscpp_tutorials add_two_ints_server
+```
+
+Then, in a few ROS 2 terminals:
+
+```bash
+# Shell D:
+. <install-space-with-ros2>/setup.bash
+ros2 run ros1_bridge parameter_bridge
+```
+
+If all is well, the logging shows it is creating bridges for the topic and service and you should be able to call the service and listen to the ROS 1 talker from ROS 2:
+
+```bash
+# Shell E:
+. <install-space-with-ros2>/setup.bash
+ros2 run demo_nodes_cpp listener
+```
+This should start printing text like `I heard: [hello world ...]` with a timestamp.
+
+```bash
+# Shell F:
+. <install-space-with-ros2>/setup.bash
+ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 1, b: 2}"
+```
+If all is well, the output should contain `example_interfaces.srv.AddTwoInts_Response(sum=3)`
+
+### Parametrizing Quality of Service
+An advantage of ROS 2 over ROS 1 is the possibility to define different Quality of Service settings per topic.
+The parameter bridge optionally allows for this as well.
+For some topics, like `/tf_static` this is actually required, as this is a latching topic in ROS 1.
+In ROS 2 with the `parameter_bridge`, this requires that topic to be configured as such:
+
+```yaml
+topics:
+  -
+    topic: /tf_static
+    type: tf2_msgs/msg/TFMessage
+    queue_size: 1
+    qos:
+      history: keep_all
+      durability: transient_local
+```
+
+All other QoS options (as documented here in https://docs.ros.org/en/foxy/Concepts/About-Quality-of-Service-Settings.html) are available:
+
+```yaml
+topics:
+  -
+    topic: /some_ros1_topic
+    type: std_msgs/msg/String
+    queue_size: 1
+    qos:
+      history: keep_last  # OR keep_all, then you can omit `depth` parameter below
+      depth: 10  # Only required when history == keep_last
+      reliability: reliable  # OR best_effort
+      durability: transient_local  # OR volatile
+      deadline:
+          secs: 10
+          nsecs: 2345
+      lifespan:
+          secs: 20
+          nsecs: 3456
+      liveliness: liveliness_system_default  # Values from https://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html, eg. LIVELINESS_AUTOMATIC
+      liveliness_lease_duration:
+          secs: 40
+          nsecs: 5678
+```
+
+Note that the `qos` section can be omitted entirely and options not set are left default.

include/ros1_bridge/bridge.hpp

@@ -127,6 +127,16 @@ create_bidirectional_bridge(
   const std::string & topic_name,
   size_t queue_size = 10);
 
+BridgeHandles
+create_bidirectional_bridge(
+  ros::NodeHandle ros1_node,
+  rclcpp::Node::SharedPtr ros2_node,
+  const std::string & ros1_type_name,
+  const std::string & ros2_type_name,
+  const std::string & topic_name,
+  size_t queue_size,
+  const rclcpp::QoS & publisher_qos);
+
 }  // namespace ros1_bridge
 
 #endif  // ROS1_BRIDGE__BRIDGE_HPP_

package.xml

@@ -20,6 +20,7 @@
   <build_depend>rcutils</build_depend>
   <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>xmlrpcpp</build_depend>
 
   <buildtool_export_depend>pkg-config</buildtool_export_depend>
 

src/bridge.cpp

@@ -137,4 +137,28 @@ create_bidirectional_bridge(
   return handles;
 }
 
+BridgeHandles
+create_bidirectional_bridge(
+  ros::NodeHandle ros1_node,
+  rclcpp::Node::SharedPtr ros2_node,
+  const std::string & ros1_type_name,
+  const std::string & ros2_type_name,
+  const std::string & topic_name,
+  size_t queue_size,
+  const rclcpp::QoS & publisher_qos)
+{
+  RCLCPP_INFO(
+    ros2_node->get_logger(), "create bidirectional bridge for topic %s",
+    topic_name.c_str());
+  BridgeHandles handles;
+  handles.bridge1to2 = create_bridge_from_1_to_2(
+    ros1_node, ros2_node,
+    ros1_type_name, topic_name, queue_size, ros2_type_name, topic_name, publisher_qos);
+  handles.bridge2to1 = create_bridge_from_2_to_1(
+    ros2_node, ros1_node,
+    ros2_type_name, topic_name, queue_size, ros1_type_name, topic_name, queue_size,
+    handles.bridge1to2.ros2_publisher);
+  return handles;
+}
+
 }  // namespace ros1_bridge