Is it possible to use ros1_bridge to communicate with ros1 nodes?

[yijh0611]

Hello, I would like to subscribe to the tf of AprilTag from a ROS1 node. As this library is wrapped in ROS2, I attempted to install the ros1_bridge package from this GitHub page. However, an error occurred during the package build. From my research, it seems that this package is intended to be used with ROS2 Foxy. I am wondering if it is possible to install and use the ros1_bridge package with this library, or if I need to reinstall ROS2 Humble in a seperate docker container in order to use this package?

[jaiveersinghNV]

At the moment, we test all of our packages exclusively on ROS 2 Humble. Many of our Isaac ROS packages, including Isaac ROS AprilTag, depend on new features added in the ROS 2 Humble release to support NITROS type adaptation for fast message communication between nodes. As a result, our packages won't run on ROS 2 Foxy.

Your best bet may be to adapt the ros1_bridge package to work on ROS 2 Humble. If you choose to use the Docker container approach, note that we provide Isaac ROS Docker containers with ROS 2 Humble prebuilt as part of Isaac ROS Common.

Please let us know if you're able to get this working :)

[jaiveersinghNV]

In the latest Isaac ROS 2.0 release, we've added support for the Isaac ROS NITROS Bridge to support connecting Isaac ROS nodes with ROS 1 nodes.

In fact, we have an Isaac ROS AprilTag NITROS Bridge tutorial that addresses your exact use case.

Hope this helps!