enhance parameter bridge enable options for topics

ros2 / ros1_bridge

ROS 2 package that provides bidirectional communication between ROS 1 and ROS 2

Apache License 2.0

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enhance parameter bridge enable options for topics #250

Closed daisukes closed 3 years ago

daisukes commented 4 years ago

This enhancement enables parameter_bridge to control the bridge precisely with the following keys. Please see the detail in doc/parameter_bridge.rst

direction
transient_local
reliable
latch

I was struggling with tf_static which is a latched topic in ROS1 but cannot be seen in ROS2. With specifying transient_local and reliable to true, it can be seen in ROS2 like a latched topic (of course need to use transient_local and reliable for the subscriber).

Signed-off-by: Daisuke Sato daisukes@cmu.edu

gonzodepedro commented 4 years ago

dirk-thomas commented 4 years ago

@daisukes Friendly ping.

daisukes commented 4 years ago

@dirk-thomas Thank you for the reminder. I will work on this today.

daisukes commented 4 years ago

Do I need to fix the conflict too?

dirk-thomas commented 4 years ago

ros2/design#296 aims to provide a way to configure the QoS from the outside in a generic way. With that approach being the preferred choice I don't think a custom way to configure the bridge is desired.

sloretz commented 3 years ago

Linking updated configurable QoS proposal https://github.com/ros2/design/pull/300

hidmic commented 3 years ago

@daisukes does the added functionality satisfy your use case? If so, you may go ahead and close this.

daisukes commented 3 years ago

@hidmic, yes for ROS2 galactic. I may want to use direction and latch if I keep using the bridge, but I'm planning to port all my packages to ROS2 next year. Anyway, I will close this.