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groove-x / mqtt_bridge

mqtt_bridge provides a functionality to bridge between ROS and MQTT in bidirectional
MIT License
160 stars 146 forks source link

ROS2 mqtt_bridge? #55

Closed HappySamuel closed 2 years ago

HappySamuel commented 3 years ago

Hi Author

Your mqtt_bridge is nice to use. By the way, is there any plan to release a ROS2 mqtt_bridge?

Best, Samuel

130s commented 3 years ago

There's also a question https://answers.ros.org/question/369262/can-we-use-mqtt-in-ros2/

flynneva commented 3 years ago

you could try out this new package called rospy2 that should just be a one-line change to port it to ROS2 i think....

HappySamuel commented 3 years ago

Thanks guys, if i have time i will try to look into the current mqtt_bridge and see how we can migrate into ROS2 and submit a PR.

ddengster commented 3 years ago

Hi, @HappySamuel we're interested in the ROS2 mqtt_bridge too. What's the current migration progress?

kapilPython commented 3 years ago

Hi Repository maintainers @ledmonster @yuma-m I have begin the implementation of ROS2 support for mqtt_bridge. It would be great if you could create a new branch for ROS2 in the repository. Please let me know what are your plans on ROS2 support.

ledmonster commented 3 years ago

@kapilPython Sorry, I don't maintain this package now. It may be better to fork this project. I'll frozen the project after that.

ledmonster commented 3 years ago

@kapilPython

It would be great if you could create a new branch for ROS2 in the repository.

I can't work on this project now, but I created a ros2 branch. I'd appreciate you if you would implement ros2 support. I'll review PRs when you'll make PRs on this branch. Thank you.

kapilPython commented 3 years ago

@ledmonster Hi I have forked the repository, please have a look at the link https://github.com/kapilPython/mqtt_bridge/tree/ros2 for further progress in integration.

ledmonster commented 3 years ago

@kapilPython thanks. I'm not using ROS now and not familiar with ROS2. I'd appreciate if you can make a proposal for ROS2 support. Is it better to support ROS2 in this repository? or is it possible to make another repo for ROS2? If latter approach is possible, I prefer that one.

kapilPython commented 2 years ago

Hi @ledmonster I was busy with some personal work and therefore could not reply to you. It makes more sense to keep the same repository for the ROS2 mqtt_bridge so that people can get access to the mqtt_bridge by switching to a relevant branch. But, if you suggest a new repository that's also fine. For communication with ROS2 the same code infrastructure used in ROS1 can be used, the only changes which are required are usage of time in ros2, node creation and publisher, subscriber creation in ROS2. I have also observed that eProsima has not implemented an integration service https://github.com/eProsima/Integration-Service for mqtt and our extension for ROS2 can be a help for the community.

ledmonster commented 2 years ago

If anyone can contribute to ros2 support, please create a PR to ros2 branch. Thank you.

kapilPython commented 2 years ago

Hi @ledmonster you could try the first version of ros2 compatible mqtt bridge on my forked repository: https://github.com/kapilPython/mqtt_bridge/tree/ros2

There is still some documentation, cleaning up and creating launch file left. I will take care of the same over the weekend.

For trying the code just install ros2 and requirement.txt Then build the code with colcon build then, source install/setup.bash and run ros2 run mqtt_bridge mqtt_bridge_node --ros-args --params-file ~/mqtt_ws/src/mqtt_bridge/config/demo_params.yaml

kapilPython commented 2 years ago

Hi @ledmonster you could try the first version of ros2 compatible mqtt bridge on my forked repository: https://github.com/kapilPython/mqtt_bridge/tree/ros2

There is still some documentation, cleaning up and creating launch file left. I will take care of the same over the weekend.

For trying the code just install ros2 and requirement.txt Then build the code with colcon build then, source install/setup.bash and run ros2 run mqtt_bridge mqtt_bridge_node --ros-args --params-file ~/mqtt_ws/src/mqtt_bridge/config/demo_params.yaml

After clean up would make a pull request.

kapilPython commented 2 years ago

https://github.com/groove-x/mqtt_bridge/pull/62 Pull request for the ROS2 feature. Lets close the issue soon :relaxed: :relieved:

ledmonster commented 2 years ago

I don't have enough time to maintain this project, so if someone is willing to contribute to the project, I'm glad to transfer the ownership. Anyway, hopefully I'll merge #62 soon. Thank you @kapilPython .

kapilPython commented 2 years ago

@ledmonster I guess this issue can be also closed now.

ledmonster commented 2 years ago

ROS2 is now supported on ros2 branch. See: https://github.com/groove-x/mqtt_bridge/pull/62