feat: 2-terminal demo scripts for ROS 1 <-> ROS 2 bridge#26
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ycpss91255 merged 2 commits intomainfrom Apr 24, 2026
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…yaml) Symmetric server/client pair that runs an end-to-end std_msgs/String bridge demo across two terminals. Server scripts self-bootstrap roscore + parameter_bridge with explicit step-by-step logs ([ros1_server] step N/5: ...); client scripts only source the relevant distro and subscribe. - script/ros1_server.sh + ros2_client.sh: Demo A (ROS 1 -> ROS 2) - script/ros2_server.sh + ros1_client.sh: Demo B (ROS 2 -> ROS 1) - config/demo_bridge.yaml -> /demo_bridge.yaml in image (no env override needed) - Dockerfile COPY script/ glob picks up the four new helpers automatically - 9 new smoke tests (28 -> 37): exists+executable + -h prints Usage for each script, plus /demo_bridge.yaml exists
…shells
Sourcing both ROS 1 (noetic) and ROS 2 (foxy) into the same shell breaks
roscore: it's a Python script that imports rosgraph_msgs.msg.Log, but
sys.path resolves rosgraph_msgs to ROS 2's copy (which lacks Log) when
ROS 2 is sourced last. Result on Jetson:
ImportError: cannot import name 'Log' from 'rosgraph_msgs.msg'
Restructure ros{1,2}_server.sh so the main shell never sources either
distro; each command runs in a subshell that sources only what it needs:
- roscore / rostopic / rosparam -> ROS 1 only
- parameter_bridge -> ROS 1 + ROS 2
- ros2 topic pub/echo -> ROS 2 only
Subshells use `( ros1_env; exec <cmd> )` so $! captures the actual
command PID (not a wrapper), keeping the trap cleanup correct.
Verified end-to-end on Jetson (arm64): both Demo A (ROS 1 -> ROS 2) and
Demo B (ROS 2 -> ROS 1) pub/echo across the bridge as expected.
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Summary
script/ros{1,2}_{server,client}.sh— that drive an end-to-endstd_msgs/Stringbridge across two terminals. Server side self-bootstrapsroscore+parameter_bridge(loads/demo_bridge.yaml) and publishes; client side just subscribes. Each step is logged explicitly ([ros1_server] step N/4: ...) so the user can see whenroscoreand the bridge are up.config/demo_bridge.yamlinto the image as/demo_bridge.yamlso the demo scripts pick it up without env overrides. Switch DockerfileCOPY script/...to a directory glob so future helpers are picked up automatically.parameter_bridge). This avoids theImportError: cannot import name 'Log' from 'rosgraph_msgs.msg'failure that happens when both distros are sourced into one shell —roscoreis a Python script andsys.pathresolvesrosgraph_msgsto ROS 2's copy (which lacksLog). The fix is split across two commits in this PR so the failure mode stays in the history.-hUsage for each demo helper, plus/demo_bridge.yamlpresence).doc/test/TEST.md,doc/changelog/CHANGELOG.md, and all four READMEs (en / zh-TW / zh-CN / ja) updated.Test plan
./build.sh test— 37/37 bats green, ShellCheck and Hadolint clean./exec.sh /ros1_server.sh+./exec.sh /ros2_client.sh— ROS 2 client receiveshello from ROS 1./exec.sh /ros2_server.sh+./exec.sh /ros1_client.sh— ROS 1 client receiveshello from ROS 2Ctrl+Ctears downparameter_bridge+roscore; client EOFsmain.yamldoes not yet opt in to the arm64 matrix). After ci: enable arm64 in build matrix (linux/amd64,linux/arm64) #27 merges, this PR will be rebased onto main and re-tested.