Question 1

How do I add custom message support to ros1_bridge?

Accepted Answer

You must build ros1_bridge from source after sourcing separate ROS 1 and ROS 2 workspaces containing your custom types. The README details using colcon with overlay workspaces to compile the bridge with support for those types.

Question 2

Why does ros2 topic echo fail with ros1_bridge?

Accepted Answer

The dynamic bridge only creates bridges when active publisher-subscriber pairs exist, so without a subscriber, the topic isn't bridged. Specify the topic type explicitly (e.g., ros2 topic echo ) to trigger bridging, as noted in the README.

Question 3

Should I use ros1_bridge or write my own bridge for ROS 1 to ROS 2?

Accepted Answer

ros1_bridge is usually better as it's officially maintained, handles type conversions automatically, and includes QoS features. A custom bridge might only be needed for edge cases not covered, like highly specialized protocols.

Question 4

How to set up QoS in ros1_bridge parameter_bridge?

Accepted Answer

Use a YAML configuration file with a qos section per topic, specifying settings like history, durability, and deadline. The README provides an example for /tf_static with transient_local durability to match ROS 1's latching behavior.

Question 5

Can I run ros1_bridge on Ubuntu 22.04 Jammy?

Accepted Answer

Yes, but it requires building from source as ROS 1 support on Jammy is partial and unsupported officially. The compatibility table shows it works with Humble or Iron ROS 2 versions after source compilation.

Question 6

What's the performance impact of ros1_bridge?

Accepted Answer

It adds latency due to message serialization between ROS 1 and ROS 2 protocols, but dynamic bridging minimizes overhead by only bridging active topics. For critical systems, benchmark in your specific environment to assess trade-offs.

ros1_bridge

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