Problems with ros1_bridge static_bridge "No template specialization for the pair"

[i-am-neet]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04, ROS2 Dashing
• Installation type:
  • from source
• Version or commit hash:
• DDS implementation:
  • RTI Connext
• Client library (if applicable):

Steps to reproduce issue

# Shell 1
$ source /opt/ros/melodic/setup.bash
$ roscore &
$ rosrun rospy_tutorials talker

# Shell 2
# I built the ros1_bridge in ros2_ws
$ source ros2_ws/install/setup.bash
$ ros2 run ros1_bridge static_bridge
[INFO] [ros_bridge]: create bidirectional bridge for topic chatter
terminate called after throwing an instance of 'std::runtime_error'
  what():  No template specialization for the pair

Expected behavior

I want to bridge the specific topic to ROS2, but it doesn't work on tutorial's talker

---

Feature request

Filters for bridge specific topic or except some topics

Feature description

I want to use ros1_bridge to communicate between multi-robots which based on ROS1 through DDS
But there is a problem with bridging big data like image_raw when I use dynamic_bridge --bridge-all-topics
It will cause the network traffic jams

Is it possible to filter some topics or make a rule file to bridge topics that I wanted?

[dirk-thomas]

Thank you for reporting this. #209 fixes the static_bridge.

The static bridge is a demonstration how a single topic with a specific type can be bridged. You could implement your own static bridge for you specific topic types / names - all you need to change from the example are these few lines:

ros1_bridge/src/static_bridge.cpp

Lines 43 to 46 in ceed503

	// bridge one example topic
	std::string topic_name = "chatter";
	std::string ros1_type_name = "std_msgs/String";
	std::string ros2_type_name = "std_msgs/msg/String";