Implemented action bridge

hsd-dev commented 4 years ago

This is in continuation of the work we started last year (https://discourse.ros.org/t/introducing-action-bridge/9103). The PR maps the available actions on the path and generates the interface mappings. There's also an action_bridge.cpp which accepts the name and type of the action and creates an action bridge.

NOTE:

The PR is for eloquent because I am having issues compiling the master branch (even without the action_bridge). Any help here welcome.
I am having issues compiling the interface factory for GripperCommand, because the name of the action and the message within it is the same. It generates 2 files with identical function names (first defined here).
```
control_msgs__msg__GripperCommand__factories.cpp
control_msgs__action__GripperCommand__factories.cpp
```
builtin_interfaces seems to be ignored in case of services. I am not sure if this is the best solution

if (ros1_type, ros2_type) not in message_string_pairs and not ros2_type.startswith("builtin_interfaces"):

TODO: write tests, update code formatter in editor
missing feature: auto-discovery

hidmic commented 4 years ago

The PR is for eloquent because I am having issues compiling the master branch (even without the action_bridge). Any help here welcome.

What kind of issues? Feature PRs against the stable eloquent branch are not likely to get merged.

hsd-dev commented 4 years ago

This is the build log for master branch

Mapping for package example_interfaces contains unknown field(s)
Mapping for package example_interfaces contains unknown field(s)
/home/hsd/tmp/bridge_ws/src/ros1_bridge/test/test_ros2_client.cpp: In function ‘int main(int, char**)’:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/test/test_ros2_client.cpp:37:13: error: ‘rclcpp::FutureReturnCode’ has not been declared
     rclcpp::FutureReturnCode::SUCCESS)
             ^~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/test_ros2_client_cpp.dir/test/test_ros2_client.cpp.o] Error 1
make[1]: *** [CMakeFiles/test_ros2_client_cpp.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /home/hsd/tmp/bridge_ws/src/ros1_bridge/build/ros1_bridge/generated/get_factory.cpp:3:0:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:193:19: error: ‘MessageInfo’ in namespace ‘rclcpp’ does not name a type
     const rclcpp::MessageInfo & msg_info,
                   ^~~~~~~~~~~
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp: In member function ‘rclcpp::SubscriptionBase::SharedPtr ros1_bridge::Factory<ROS1_T, ROS2_T>::create_ros2_subscriber(rclcpp::Node::SharedPtr, const string&, const rmw_qos_profile_t&, ros::Publisher, rclcpp::PublisherBase::SharedPtr)’:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:120:64: error: ‘MessageInfo’ in namespace ‘rclcpp’ does not name a type
       void(const typename ROS2_T::SharedPtr msg, const rclcpp::MessageInfo & msg_info)> callback;
                                                                ^~~~~~~~~~~
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp: In static member function ‘static void ros1_bridge::Factory<ROS1_T, ROS2_T>::ros2_callback(typename ROS2_T::SharedPtr, const int&, ros::Publisher, const string&, const string&, rclcpp::Logger, rclcpp::PublisherBase::SharedPtr)’:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:203:19: error: request for member ‘get_rmw_message_info’ in ‘msg_info’, which is of non-class type ‘const int’
         &msg_info.get_rmw_message_info().publisher_gid,
                   ^~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/ros1_bridge.dir/generated/get_factory.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/hsd/tmp/bridge_ws/src/ros1_bridge/build/ros1_bridge/generated/action_msgs_factories.hpp:6:0,
                 from /home/hsd/tmp/bridge_ws/src/ros1_bridge/build/ros1_bridge/generated/action_msgs_factories.cpp:3:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:193:19: error: ‘MessageInfo’ in namespace ‘rclcpp’ does not name a type
     const rclcpp::MessageInfo & msg_info,
                   ^~~~~~~~~~~
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp: In member function ‘rclcpp::SubscriptionBase::SharedPtr ros1_bridge::Factory<ROS1_T, ROS2_T>::create_ros2_subscriber(rclcpp::Node::SharedPtr, const string&, const rmw_qos_profile_t&, ros::Publisher, rclcpp::PublisherBase::SharedPtr)’:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:120:64: error: ‘MessageInfo’ in namespace ‘rclcpp’ does not name a type
       void(const typename ROS2_T::SharedPtr msg, const rclcpp::MessageInfo & msg_info)> callback;
                                                                ^~~~~~~~~~~
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp: In static member function ‘static void ros1_bridge::Factory<ROS1_T, ROS2_T>::ros2_callback(typename ROS2_T::SharedPtr, const int&, ros::Publisher, const string&, const string&, rclcpp::Logger, rclcpp::PublisherBase::SharedPtr)’:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:203:19: error: request for member ‘get_rmw_message_info’ in ‘msg_info’, which is of non-class type ‘const int’
         &msg_info.get_rmw_message_info().publisher_gid,
                   ^~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/ros1_bridge.dir/generated/action_msgs_factories.cpp.o] Error 1
In file included from /home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/builtin_interfaces_factories.hpp:29:0,
                 from /home/hsd/tmp/bridge_ws/src/ros1_bridge/src/builtin_interfaces_factories.cpp:21:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:193:19: error: ‘MessageInfo’ in namespace ‘rclcpp’ does not name a type
     const rclcpp::MessageInfo & msg_info,
                   ^~~~~~~~~~~
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp: In member function ‘rclcpp::SubscriptionBase::SharedPtr ros1_bridge::Factory<ROS1_T, ROS2_T>::create_ros2_subscriber(rclcpp::Node::SharedPtr, const string&, const rmw_qos_profile_t&, ros::Publisher, rclcpp::PublisherBase::SharedPtr)’:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:120:64: error: ‘MessageInfo’ in namespace ‘rclcpp’ does not name a type
       void(const typename ROS2_T::SharedPtr msg, const rclcpp::MessageInfo & msg_info)> callback;
                                                                ^~~~~~~~~~~
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp: In static member function ‘static void ros1_bridge::Factory<ROS1_T, ROS2_T>::ros2_callback(typename ROS2_T::SharedPtr, const int&, ros::Publisher, const string&, const string&, rclcpp::Logger, rclcpp::PublisherBase::SharedPtr)’:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:203:19: error: request for member ‘get_rmw_message_info’ in ‘msg_info’, which is of non-class type ‘const int’
         &msg_info.get_rmw_message_info().publisher_gid,
                   ^~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/eloquent/include/rclcpp/node_interfaces/node_topics_interface.hpp:29:0,
                 from /opt/ros/eloquent/include/rclcpp/node.hpp:53,
                 from /opt/ros/eloquent/include/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/eloquent/include/rclcpp/executors.hpp:22,
                 from /opt/ros/eloquent/include/rclcpp/rclcpp.hpp:145,
                 from /home/hsd/tmp/bridge_ws/src/ros1_bridge/src/builtin_interfaces_factories.cpp:18:
/opt/ros/eloquent/include/rclcpp/subscription_factory.hpp: In instantiation of ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; CallbackT = std::function<void(std::shared_ptr<builtin_interfaces::msg::Time_<std::allocator<void> > >, const int&)>&; AllocatorT = std::allocator<void>; CallbackMessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> > >]’:
/opt/ros/eloquent/include/rclcpp/create_subscription.hpp:67:63:   required from ‘std::shared_ptr<SubscriptionT> rclcpp::create_subscription(NodeT&&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; CallbackT = std::function<void(std::shared_ptr<builtin_interfaces::msg::Time_<std::allocator<void> > >, const int&)>&; AllocatorT = std::allocator<void>; CallbackMessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node&; std::__cxx11::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/eloquent/include/rclcpp/node_impl.hpp:96:47:   required from ‘std::shared_ptr<SubscriptionT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; CallbackT = std::function<void(std::shared_ptr<builtin_interfaces::msg::Time_<std::allocator<void> > >, const int&)>&; AllocatorT = std::allocator<void>; CallbackMessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> >; std::__cxx11::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> > >]’
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:129:48:   required from ‘rclcpp::SubscriptionBase::SharedPtr ros1_bridge::Factory<ROS1_T, ROS2_T>::create_ros2_subscriber(rclcpp::Node::SharedPtr, const string&, const rmw_qos_profile_t&, ros::Publisher, rclcpp::PublisherBase::SharedPtr) [with ROS1_T = std_msgs::Time_<std::allocator<void> >; ROS2_T = builtin_interfaces::msg::Time_<std::allocator<void> >; rclcpp::SubscriptionBase::SharedPtr = std::shared_ptr<rclcpp::SubscriptionBase>; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>; std::__cxx11::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t; rclcpp::PublisherBase::SharedPtr = std::shared_ptr<rclcpp::PublisherBase>]’
/home/hsd/tmp/bridge_ws/src/ros1_bridge/src/builtin_interfaces_factories.cpp:107:1:   required from here
/opt/ros/eloquent/include/rclcpp/subscription_factory.hpp:87:3: error: no matching function for call to ‘rclcpp::AnySubscriptionCallback<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> >::set(std::function<void(std::shared_ptr<builtin_interfaces::msg::Time_<std::allocator<void> > >, const int&)>&)’
   any_subscription_callback.set(std::forward<CallbackT>(callback));
   ^~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/eloquent/include/rclcpp/subscription_base.hpp:26:0,
                 from /opt/ros/eloquent/include/rclcpp/callback_group.hpp:26,
                 from /opt/ros/eloquent/include/rclcpp/any_executable.hpp:20,
                 from /opt/ros/eloquent/include/rclcpp/memory_strategy.hpp:24,
                 from /opt/ros/eloquent/include/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/eloquent/include/rclcpp/executor.hpp:33,
                 from /opt/ros/eloquent/include/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/eloquent/include/rclcpp/executors.hpp:21,
                 from /opt/ros/eloquent/include/rclcpp/rclcpp.hpp:145,
                 from /home/hsd/tmp/bridge_ws/src/ros1_bridge/src/builtin_interfaces_factories.cpp:18:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:82:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<builtin_interfaces::msg::Time_<std::allocator<void> > >)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<_Tp>)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:82:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:80:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:80:17: note: invalid template non-type parameter
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:96:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<builtin_interfaces::msg::Time_<std::allocator<void> > >, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<_Tp>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:96:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:94:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:94:17: note: invalid template non-type parameter
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:110:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const builtin_interfaces::msg::Time_<std::allocator<void> > >)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const _Tp>)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:110:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:108:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:108:17: note: invalid template non-type parameter
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:124:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const builtin_interfaces::msg::Time_<std::allocator<void> > >, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const _Tp>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:124:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:122:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:122:17: note: invalid template non-type parameter
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:138:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<builtin_interfaces::msg::Time_<std::allocator<void> >, std::default_delete<builtin_interfaces::msg::Time_<std::allocator<void> > > >)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<MessageT, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type>)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:138:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:136:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:136:17: note: invalid template non-type parameter
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:152:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<builtin_interfaces::msg::Time_<std::allocator<void> >, std::default_delete<builtin_interfaces::msg::Time_<std::allocator<void> > > >, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<MessageT, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:152:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:150:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:150:17: note: invalid template non-type parameter
In file included from /opt/ros/eloquent/include/rclcpp/node_interfaces/node_topics_interface.hpp:29:0,
                 from /opt/ros/eloquent/include/rclcpp/node.hpp:53,
                 from /opt/ros/eloquent/include/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/eloquent/include/rclcpp/executors.hpp:22,
                 from /opt/ros/eloquent/include/rclcpp/rclcpp.hpp:145,
                 from /home/hsd/tmp/bridge_ws/src/ros1_bridge/src/builtin_interfaces_factories.cpp:18:
/opt/ros/eloquent/include/rclcpp/subscription_factory.hpp: In instantiation of ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; CallbackT = std::function<void(std::shared_ptr<builtin_interfaces::msg::Duration_<std::allocator<void> > >, const int&)>&; AllocatorT = std::allocator<void>; CallbackMessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> > >]’:
/opt/ros/eloquent/include/rclcpp/create_subscription.hpp:67:63:   required from ‘std::shared_ptr<SubscriptionT> rclcpp::create_subscription(NodeT&&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; CallbackT = std::function<void(std::shared_ptr<builtin_interfaces::msg::Duration_<std::allocator<void> > >, const int&)>&; AllocatorT = std::allocator<void>; CallbackMessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node&; std::__cxx11::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/eloquent/include/rclcpp/node_impl.hpp:96:47:   required from ‘std::shared_ptr<SubscriptionT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; CallbackT = std::function<void(std::shared_ptr<builtin_interfaces::msg::Duration_<std::allocator<void> > >, const int&)>&; AllocatorT = std::allocator<void>; CallbackMessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> >; std::__cxx11::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> > >]’
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:129:48:   required from ‘rclcpp::SubscriptionBase::SharedPtr ros1_bridge::Factory<ROS1_T, ROS2_T>::create_ros2_subscriber(rclcpp::Node::SharedPtr, const string&, const rmw_qos_profile_t&, ros::Publisher, rclcpp::PublisherBase::SharedPtr) [with ROS1_T = std_msgs::Duration_<std::allocator<void> >; ROS2_T = builtin_interfaces::msg::Duration_<std::allocator<void> >; rclcpp::SubscriptionBase::SharedPtr = std::shared_ptr<rclcpp::SubscriptionBase>; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>; std::__cxx11::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t; rclcpp::PublisherBase::SharedPtr = std::shared_ptr<rclcpp::PublisherBase>]’
/home/hsd/tmp/bridge_ws/src/ros1_bridge/src/builtin_interfaces_factories.cpp:107:1:   required from here
/opt/ros/eloquent/include/rclcpp/subscription_factory.hpp:87:3: error: no matching function for call to ‘rclcpp::AnySubscriptionCallback<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> >::set(std::function<void(std::shared_ptr<builtin_interfaces::msg::Duration_<std::allocator<void> > >, const int&)>&)’
   any_subscription_callback.set(std::forward<CallbackT>(callback));
   ^~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/eloquent/include/rclcpp/subscription_base.hpp:26:0,
                 from /opt/ros/eloquent/include/rclcpp/callback_group.hpp:26,
                 from /opt/ros/eloquent/include/rclcpp/any_executable.hpp:20,
                 from /opt/ros/eloquent/include/rclcpp/memory_strategy.hpp:24,
                 from /opt/ros/eloquent/include/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/eloquent/include/rclcpp/executor.hpp:33,
                 from /opt/ros/eloquent/include/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/eloquent/include/rclcpp/executors.hpp:21,
                 from /opt/ros/eloquent/include/rclcpp/rclcpp.hpp:145,
                 from /home/hsd/tmp/bridge_ws/src/ros1_bridge/src/builtin_interfaces_factories.cpp:18:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:82:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<builtin_interfaces::msg::Duration_<std::allocator<void> > >)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<_Tp>)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:82:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:80:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:80:17: note: invalid template non-type parameter
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:96:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<builtin_interfaces::msg::Duration_<std::allocator<void> > >, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<_Tp>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:96:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:94:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:94:17: note: invalid template non-type parameter
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:110:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const builtin_interfaces::msg::Duration_<std::allocator<void> > >)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const _Tp>)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:110:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:108:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:108:17: note: invalid template non-type parameter
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:124:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const builtin_interfaces::msg::Duration_<std::allocator<void> > >, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const _Tp>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:124:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:122:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:122:17: note: invalid template non-type parameter
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:138:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::default_delete<builtin_interfaces::msg::Duration_<std::allocator<void> > > >)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<MessageT, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type>)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:138:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:136:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:136:17: note: invalid template non-type parameter
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:152:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::default_delete<builtin_interfaces::msg::Duration_<std::allocator<void> > > >, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<MessageT, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:152:8: note:   template argument deduction/substitution failed:
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:150:17: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/eloquent/include/rclcpp/any_subscription_callback.hpp:150:17: note: invalid template non-type parameter
In file included from /usr/include/c++/7/future:48:0,
                 from /opt/ros/eloquent/include/rclcpp/executors.hpp:18,
                 from /opt/ros/eloquent/include/rclcpp/rclcpp.hpp:145,
                 from /home/hsd/tmp/bridge_ws/src/ros1_bridge/src/builtin_interfaces_factories.cpp:18:
/usr/include/c++/7/bits/std_function.h: At global scope:
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; CallbackT = std::function<void(std::shared_ptr<builtin_interfaces::msg::Time_<std::allocator<void> > >, const int&)>&; AllocatorT = std::allocator<void>; CallbackMessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> > >]::<lambda(rclcpp::node_interfaces::NodeBaseInterface*, const string&, const rclcpp::QoS&)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = std::shared_ptr<rclcpp::SubscriptionBase>; _ArgTypes = {rclcpp::node_interfaces::NodeBaseInterface*, const std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, const rclcpp::QoS&}]’, declared using local type ‘rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; CallbackT = std::function<void(std::shared_ptr<builtin_interfaces::msg::Time_<std::allocator<void> > >, const int&)>&; AllocatorT = std::allocator<void>; CallbackMessageT = builtin_interfaces::msg::Time_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Time_<std::allocator<void> >, std::allocator<void> > >]::<lambda(rclcpp::node_interfaces::NodeBaseInterface*, const string&, const rclcpp::QoS&)>’, is used but never defined [-fpermissive]
       function<_Res(_ArgTypes...)>::
       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; CallbackT = std::function<void(std::shared_ptr<builtin_interfaces::msg::Duration_<std::allocator<void> > >, const int&)>&; AllocatorT = std::allocator<void>; CallbackMessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> > >]::<lambda(rclcpp::node_interfaces::NodeBaseInterface*, const string&, const rclcpp::QoS&)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = std::shared_ptr<rclcpp::SubscriptionBase>; _ArgTypes = {rclcpp::node_interfaces::NodeBaseInterface*, const std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, const rclcpp::QoS&}]’, declared using local type ‘rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; CallbackT = std::function<void(std::shared_ptr<builtin_interfaces::msg::Duration_<std::allocator<void> > >, const int&)>&; AllocatorT = std::allocator<void>; CallbackMessageT = builtin_interfaces::msg::Duration_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<builtin_interfaces::msg::Duration_<std::allocator<void> >, std::allocator<void> > >]::<lambda(rclcpp::node_interfaces::NodeBaseInterface*, const string&, const rclcpp::QoS&)>’, is used but never defined [-fpermissive]
make[2]: *** [CMakeFiles/ros1_bridge.dir/src/builtin_interfaces_factories.cpp.o] Error 1
In file included from /home/hsd/tmp/bridge_ws/src/ros1_bridge/build/ros1_bridge/generated/action_msgs_factories.hpp:6:0,
                 from /home/hsd/tmp/bridge_ws/src/ros1_bridge/build/ros1_bridge/generated/action_msgs__msg__GoalInfo__factories.cpp:3:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:193:19: error: ‘MessageInfo’ in namespace ‘rclcpp’ does not name a type
     const rclcpp::MessageInfo & msg_info,
                   ^~~~~~~~~~~
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp: In member function ‘rclcpp::SubscriptionBase::SharedPtr ros1_bridge::Factory<ROS1_T, ROS2_T>::create_ros2_subscriber(rclcpp::Node::SharedPtr, const string&, const rmw_qos_profile_t&, ros::Publisher, rclcpp::PublisherBase::SharedPtr)’:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:120:64: error: ‘MessageInfo’ in namespace ‘rclcpp’ does not name a type
       void(const typename ROS2_T::SharedPtr msg, const rclcpp::MessageInfo & msg_info)> callback;
                                                                ^~~~~~~~~~~
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp: In static member function ‘static void ros1_bridge::Factory<ROS1_T, ROS2_T>::ros2_callback(typename ROS2_T::SharedPtr, const int&, ros::Publisher, const string&, const string&, rclcpp::Logger, rclcpp::PublisherBase::SharedPtr)’:
/home/hsd/tmp/bridge_ws/src/ros1_bridge/include/ros1_bridge/factory.hpp:203:19: error: request for member ‘get_rmw_message_info’ in ‘msg_info’, which is of non-class type ‘const int’
         &msg_info.get_rmw_message_info().publisher_gid,
                   ^~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/ros1_bridge.dir/generated/action_msgs__msg__GoalInfo__factories.cpp.o] Error 1
make[1]: *** [CMakeFiles/ros1_bridge.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< ros1_bridge    [ Exited with code 2 ]

Summary: 0 packages finished [36.8s]
  1 package failed: ros1_bridge
  1 package had stderr output: ros1_bridge

hsd-dev commented 4 years ago

Ah I'll have to compile ROS2 master branch from source as well or use nightly build / Docker.

ros-discourse commented 4 years ago

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/wat-we-can-do-here/14035/3

dirk-thomas commented 4 years ago

The PR is for eloquent because I am having issues compiling the master branch (even without the action_bridge). Any help here welcome.

I have changed the target branch of the PR to master since we don't accept changes targeting older branches (except if the patch only applies to that branch and isn't needed for master). I have also rebased the branch on top of master.

dirk-thomas commented 4 years ago

@ ipa-hsd Friendly ping.

hsd-dev commented 4 years ago

Sorry for the delay. I rebased my branch on master and it builds fine now. I will work on the the remaining things soon and update the PR.

BTW while creating the docker image, I used the nightly build for ROS2 and I had the same issues as in https://github.com/ament/ament_cmake/issues/173, but for different packages.

share/class_loader/cmake/class_loaderExport.cmake:  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;/home/jenkins-agent/workspace/packaging_linux/ws/install/include"
share/rcl/cmake/rclExport.cmake:  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;/home/jenkins-agent/workspace/packaging_linux/ws/install/include"
share/rosbag2_transport/cmake/export_rosbag2_transportExport.cmake:  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;/home/jenkins-agent/workspace/packaging_linux/ws/install/include;/home/jenkins-agent/workspace/packaging_linux/ws/install/opt/yaml_cpp_vendor/lib/cmake/yaml-cpp/../../../include;/usr/include"
share/tf2/cmake/tf2Export.cmake:  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;/home/jenkins-agent/workspace/packaging_linux/ws/install/include"

Is this a known issue or I need to file a new ticket?

hsd-dev commented 4 years ago

do we have action_bridge for dedicated binary? I was thinking adding action_bridge feature for dynamic, static bridges would be better for user.

As @dirk-thomas commented, I will add the feature to the dynamic_bridge. Currently I also have a dedicated binary which takes the direction, type and name of action interface as arguments.

dirk-thomas commented 4 years ago

@ipa-hsd Any update on this?

hsd-dev commented 4 years ago

@dirk-thomas The Dockerfile is not generating the interfaces anymore. The interface mapping files were empty. This is my Dockerfile:

FROM ubuntu:20.04

SHELL ["/bin/bash", "-c"]

RUN apt update
RUN apt-get install -y gnupg2 lsb-release

RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
#
# setup sources.list 
RUN echo "deb http://packages.ros.org/ros-testing/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-testing.list
RUN cat /etc/apt/sources.list.d/ros-testing.list

ENV ROS1_DISTRO noetic
ENV ROS2_DISTRO foxy 

# update latest package versions
RUN apt-get update

RUN DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata

# install ROS1 dependencies
RUN apt-get install -y \
    ros-$ROS1_DISTRO-roscpp-tutorials \
    ros-$ROS1_DISTRO-rospy-tutorials \
    ros-$ROS1_DISTRO-actionlib-tutorials \
    ros-$ROS1_DISTRO-control-msgs \
    && rm -rf /var/lib/apt/lists/*

#install ROS2 nightly build
RUN apt-get update && apt-get install -y wget
RUN mkdir /ros2_ws
WORKDIR /ros2_ws
RUN wget -nv https://ci.ros2.org/view/packaging/job/packaging_linux/lastSuccessfulBuild/artifact/ws/ros2-package-linux-x86_64.tar.bz2
RUN tar -xjf ros2-package-linux-x86_64.tar.bz2

RUN apt-get update && apt-get install -y \
                        git \
                        python3-colcon-common-extensions \
                        build-essential \
                        cmake \
                        libssl-dev \
                        python3-lark-parser \
                        python3-pip

RUN apt-get update && apt-get install -y \
    ros-$ROS1_DISTRO-ros-comm

RUN mkdir -p /bridge_ws/src/
WORKDIR /bridge_ws/src/

ARG SOURCE_VER=unknown
RUN git clone -b action_bridge --depth=1 https://github.com/ipa-hsd/ros1_bridge
WORKDIR /bridge_ws/

ARG UPSTREAM_CI_WS=/home/jenkins-agent/workspace/packaging_linux/ws
RUN mkdir -p $UPSTREAM_CI_WS && ln -s /ros2_ws/ros2-linux $UPSTREAM_CI_WS/install

RUN . /opt/ros/noetic/local_setup.bash \
    && . /ros2_ws/ros2-linux/local_setup.bash \
    && colcon build --symlink-install \
    && . install/local_setup.bash

RUN exec "$@"

We will be done with ROS training this week. I will take a look at it again.

ThijsRay commented 3 years ago

@ipa-hsd Do you have an update on this?

v-lopez commented 3 years ago

I did try the branch last week and it had some python errors that I hacked around with this patch but I could not get to work, whether due to my changes or some other stuff.

+++ b/ros1_bridge/__init__.py
@@ -154,6 +154,7 @@ def generate_cpp(output_path, template_dir):
                     'interface': interface,
                     'mapped_msgs': [],
                     'mapped_services': [],
+                    'mapped_actions': [],
                 }
                 if interface_type == 'msg':
                     data_idl_cpp['mapped_msgs'] += [
@@ -164,12 +165,12 @@ def generate_cpp(output_path, template_dir):
                     data_idl_cpp['mapped_services'] += [
                         s for s in data['services']
                         if s['ros2_package'] == ros2_package_name and
-                        s['ros2_name'] == interface.message_name],
-                    'mapped_actions': [
+                        s['ros2_name'] == interface.message_name]
+                if interface_type == 'action':
+                    data_idl_cpp['mapped_actions'] += [
                         s for s in data['actions']
                         if s['ros2_package'] == ros2_package_name and
-                        s['ros2_name'] == interface.message_name],
-                }
+                        s['ros2_name'] == interface.message_name]
                 template_file = os.path.join(
                     template_dir, 'interface_fact

I'd like to help on this, as for us it's a blocking feature before starting moving robots to ROS2.

hsd-dev commented 3 years ago

@v-lopez thanks for the offer. I can ping you next week to start working on this again. Sorry for keeping this hanging for so long.

v-lopez commented 3 years ago

@ipa-hsd https://github.com/ipa-hsd/ros1_bridge/pull/1 fixes build issues for me, and I get both ROS1 -> ROS2 and ROS2 -> ROS1 communication.

hsd-dev commented 3 years ago

Not sure if the signoff went wrong since quite some old commits have been stacked here. Tested the bridge and works well with the master branch. Running the tests shows some styling errors. TODO: add action_bridge to dynamic_bridge.

hsd-dev commented 3 years ago

@RaAndOn no, the mapping_rules.yaml is not ignored. Please follow https://github.com/ros2/ros1_bridge/issues/285 and https://github.com/ros2/ros1_bridge/issues/285#issuecomment-732798700. That being said, there is a logical error, will push new commit with a fix.

v-lopez commented 3 years ago

Friendly ping, could we move this? Is it going to make it to foxy or just galactic an newer?

hsd-dev commented 3 years ago

Rebased from master. Current status:

action_bridge bridges action interfaces bi-directionally.

dynamic_bridge is able to print-pairs for actions


$ ros2 run ros1_bridge dynamic_bridge --print-pairs

Supported ROS 2 <=> ROS 1 action type conversion pairs:

'action_tutorials_interfaces/action/Fibonacci' (ROS 2) <=> 'actionlib_tutorials/Fibonacci' (ROS 1)
'tf2_msgs/action/LookupTransform' (ROS 2) <=> 'tf2_msgs/LookupTransform' (ROS 1)

hsd-dev commented 3 years ago

I have updated the dynamic_bridge and tested with Fibonacci. Is anyone willing to test it? I will update the README in the meantime.

EDIT: I am not sure if this is the best solution to shutdown the server in the ActionFactorInterface

  virtual void shutdown()
  {
    std::lock_guard<std::mutex> lock(mutex_);
    for (auto goal : goals_) {
      std::thread([handler = goal.second]() mutable {handler->cancel();}).detach();
    }
    server_.reset();
  }

If the server is not shutdown, it still accepts the goal even if the bridge has been removed from the map https://github.com/ipa-hsd/ros1_bridge/blob/e9af1aad2178647b551b49976c123928013b0d0c/src/dynamic_bridge.cpp#L443-L474

hsd-dev commented 3 years ago

I am guessing this is a known issue? https://github.com/ros2/ros1_bridge/pull/256/checks?check_run_id=2762818577#step:3:87

ruffsl commented 3 years ago

I have updated the dynamic_bridge and tested with Fibonacci. Is anyone willing to test it?

@ipa-hsd , thank you very much for working on this enhancement! I forked from your branch to add a Dockerfile to try and test this PR and bridge some of our lab's Fetch platforms (with binary blobs for ROS1 joint controllers) over to ROS2, but I wasn't able to get the Fibonacci example you documented to work successfully with either building FROM ros:galactic, ros:rolling, or osrf/ros2:nightly. You can view my added commits here: https://github.com/ruffsl/ros1_bridge/pull/1

Without breaking out the debugger, the only feedback we get is this short print statement to stdout upon startup:

root@913cfd7aff09:/opt/overlay_ws# source install/setup.bash
root@913cfd7aff09:/opt/overlay_ws# ros2 run ros1_bridge action_bridge ros1 actionlib_tutorials Fibonacci fibonacci
ros1 actionlib_tutorials Fibonacci fibonacci
Failed to create a factory

https://github.com/ros2/ros1_bridge/blob/e9af1aad2178647b551b49976c123928013b0d0c/README.md#action-bridge

Which I couldn't find the origin call-site for in this repo's source code. Let me know if we've goofed in our build setup. CC @aefrank

hsd-dev commented 3 years ago

@ruffsl I should have added this in the README. I added a mapping_rules.yaml in action_tutorials_interfaces package.

# This file defines mappings between ROS 1 and ROS 2 interfaces.
# It is used with the ros1_bridge to allow for communcation between ROS 1 and ROS 2.
- 
  ros1_package_name: 'actionlib_tutorials'
  ros1_action_name: 'Fibonacci'
  ros2_package_name: 'action_tutorials_interfaces'
  ros2_action_name: 'Fibonacci'
  feedback_fields_1_to_2:
    sequence: 'partial_sequence'

ruffsl commented 3 years ago

As noted in https://github.com/ros2/demos/pull/525#issuecomment-863443243 , ~~it looks like this action bridge works in only one direction~~?

Edit: the type string is not symmetrically the same based on which direction the bridge is configured

Server / Client	ROS1	ROS2
ROS1	:white_check_mark:	:heavy_check_mark:
ROS2	:heavy_check_mark:	:white_check_mark:

hsd-dev commented 3 years ago

the correct command mentioned here: https://github.com/ros2/demos/pull/525#issuecomment-863841261

ruffsl commented 3 years ago

the correct command mentioned here: ros2/demos#525 (comment)

Thanks! @ipa-hsd, would there be a way to make these type strings more discoverable for the user, like with say tab-tab autocompletion used by the rest of the ROS2 CLI? It's not too obvious why the action type string is prefixed with action/ for ROS2 types, but not for ROS1 types.

Also, at first I wasn't quite sure of the order of command line arguments, so adding a support for a --help dialog would be handy. For instance, what arguments are optional, or how could a bridge config fill be passed, or how is the action namespace interpreted: as the examples don't appear to be specifying the action name using a root level fully qualified namespace, /fibonacci.

Could dynamic bridging be supported? If say only the action type is known, but the action namespace is unknown or could be remapped during runtime (say with multiple robots going online and offline)? Or does the intended use case require launching a dedicated action bridge for each separate action namespace in the ROS graph?

hsd-dev commented 3 years ago

It's not too obvious why the action type string is prefixed with action/ for ROS2 types, but not for ROS1 types.

I followed the same format as for services

  if (
    (
      ros_id == "ros1" &&
      package_name == "sensor_msgs" &&
      service_name == "SetCameraInfo"
    ) || (
      ros_id == "ros2" &&
      package_name == "sensor_msgs" &&
      service_name == "srv/SetCameraInfo"
    )

ROS2 types now has msg / srv / action added to it's "namespace". I am not sure of the rationale for this.

$ ros2 interface list

sensor_msgs/msg/Image
turtlesim/srv/Spawn
action_tutorials_interfaces/action/Fibonacci

To get the supported types, you could use --print-pairs for dynamic_bridge

$ ros2 run ros1_bridge dynamic_bridge --print-pairs

Supported ROS 2 <=> ROS 1 action type conversion pairs:
  - 'action_tutorials_interfaces/action/Fibonacci' (ROS 2) <=> 'actionlib_tutorials/Fibonacci' (ROS 1)
  - 'tf2_msgs/action/LookupTransform' (ROS 2) <=> 'tf2_msgs/LookupTransform' (ROS 1)

Also, at first I wasn't quite sure of the order of command line arguments, so adding a support for a --help dialog would be handy.

Sure, that would be useful.

Could dynamic bridging be supported?

dynamic_bridge already supports action interface (See https://github.com/ros2/ros1_bridge/pull/256/commits/e9a50d20356dd8b40122c3c6c1dda74be18c6956). But it expects that the namespace matches. I don't think namespace remapping is supported for topics or services either (correct me if I am wrong). Remapping should be possible, but I would prefer that to be done in a new PR for all 3 together: topics, services and actions.

ros-discourse commented 2 years ago

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/introducing-action-bridge/9103/8

hsd-dev commented 2 years ago

As per https://github.com/ros2/ros1_bridge/pull/256#pullrequestreview-415768662, I have

tested the action_bridge in both directions with Fibonacci, and tested dynamic_bridge for actions in both directions
updated the README with examples for both directions
tried to fix the formatting issues, but I can't seem to keep both cpplint and uncrustify happy: https://github.com/ros2/ros1_bridge/runs/4800846315?check_suite_focus=true#step:4:988. Similar issue was observed here https://github.com/ament/ament_lint/issues/158
cleaned up the commit history

hsd-dev commented 2 years ago

tried to fix the formatting issues, but I can't seem to keep both cpplint and uncrustify happy: https://github.com/ros2/ros1_bridge/runs/4800846315?check_suite_focus=true#step:4:988. Similar issue was observed here https://github.com/ament/ament_lint/issues/158

I have suppressed the cpplint errors wherever I could not satisfy both.

@dirk-thomas @ruffsl @fujitatomoya

fujitatomoya commented 2 years ago

@iuhilnehc-ynos can you take a look at this when you have time?

hsd-dev commented 2 years ago

ping @fujitatomoya @clalancette @gbiggs @iuhilnehc-ynos

gbiggs commented 2 years ago

CI!

Linux

gbiggs commented 2 years ago

It looks like the dependencies in package.xml haven't been updated properly. Please correct that.

hsd-dev commented 2 years ago

@gbiggs from the error log, actionlib was missing in the package.xml which I have updated. Could you try again?

gbiggs commented 2 years ago

Linux
Linux-aarch64

hsd-dev commented 2 years ago

Ah sorry it's a ROS1 package

gbiggs commented 2 years ago

Let me know when you've fixed it and I'll run CI again.

hsd-dev commented 2 years ago

@gbiggs any ideas on how to specify ROS1 dependencies? The error is coming from https://github.com/ipa-hsd/ros1_bridge/blob/action_bridge/CMakeLists.txt#L44. The README says, to run the examples, following packages should be available

roscpp_tutorials
rospy_tutorials
rostopic
rqt_image_view

but I think the user is expected to install them manually.

civerachb-cpr commented 2 years ago

@ipa-hsd quick question after reviewing the README in your source branch: you say that the dynamic_bridge has been extended to handle actions. Has the parameter_bridge been similarly changed?

I'm currently working on a setup with two parameter_bridges (on different ROS2 domains) to expose specific topics & services to my Noetic ROS Master. One of these domains also includes actions that I'd like to expose to ROS1, but it's not immediately obvious if I need to add an action_bridge node too, or if I can add the actions I need to bridge to the parameter_bridge's yaml file.

Thanks for the clarification!

ana-GT commented 2 years ago

@ipa-hsd : Thank you very much for this PR! I just used the dynamic_bridge for a small demo and works like a charm (demo consisted on commanding -with services and actions - the navigation of 2 Astrobees, which run in ROS1, using task planning on the ROS2 side).

Hopefully this PR will be merged soon. In case it needs some help testing for it to be merged, I'd be happy to help, if needed. Again, thanks for this feature!

hsd-dev commented 2 years ago

@civerachb-cpr no, the parameter_bridge has not been updated. Can you please push commits to this PR with the necessary updates? I have not used parameter_bridge, but most probably the update would be similar to that for services https://github.com/ros2/ros1_bridge/blob/146b9c3ce2809dcefc661452ff1d8cbb3057bb56/src/parameter_bridge.cpp#L174-L234

hsd-dev commented 2 years ago

@ana-GT thanks for the positive feedback! The main help I need is to specify ROS1 dependencies as mentioned in https://github.com/ros2/ros1_bridge/pull/256#issuecomment-1088597661

hsd-dev commented 2 years ago

A cheap hack could be to add the following macro in find_ros1_package if the target package (actionlib in this case) is not found:

macro(install_ros1_pkg name)
  set(command "rosdep" "update")
  execute_process(
    COMMAND ${command}
    RESULT_VARIABLE result
    OUTPUT_VARIABLE output
    ERROR_VARIABLE error
  )

  set(command "rosdep" "resolve" ${name})
  execute_process(
    COMMAND ${command}
    RESULT_VARIABLE result
    OUTPUT_VARIABLE package_name
    ERROR_VARIABLE error
  )

  set(command "apt-get" "update")
  execute_process(
    COMMAND ${command}
    RESULT_VARIABLE result
    OUTPUT_VARIABLE output
    ERROR_VARIABLE error
  )

  string(REPLACE "#apt\n" "" package_name ${package_name})
  set(command "apt-get" "install" "-y" ${package_name})
  execute_process(
    COMMAND ${command}
    RESULT_VARIABLE result
    OUTPUT_VARIABLE output
    ERROR_VARIABLE error
  )
endmacro()

This worked for me in docker, but again it would need root privileges which does not make it a nice solution. Or maybe I am over-complicating the situation and there is a simpler way? Can't this dependency be installed as a Jenkins job? Thoughts? @gbiggs @fujitatomoya @ruffsl?

pauldinh commented 2 years ago

This worked for me in docker, but again it would need root privileges which does not make it a nice solution. Or maybe I am over-complicating the situation and there is a simpler way? Can't this dependency be installed as a Jenkins job? Thoughts? @gbiggs @fujitatomoya @ruffsl?

@ipa-hsd You can have conditional dependencies in the package.xml e.g.

<depend condition="$ROS_VERSION == 1">roscpp</depend>

See REP 149 for more options. Hopefully that takes care of it?

hsd-dev commented 2 years ago

I didn't realize local_setup.bash doesn't change ROS-VERSION and ROS_DISTRO. This works for me in docker, let's see if we can make the CI happy this time.

@gbiggs could you please run the CI again?

gavanderhoorn commented 2 years ago

I have to commend you for your patience and persistence @ipa-hsd :+1:

It's been over a year since you opened this PR.

fujitatomoya commented 2 years ago

@Barry-Xu-2018 can you do review against?

DaAwesomeP commented 2 years ago

Hello! Small question, is there is Dockerfile to try this out? Very exciting!

hsd-dev commented 2 years ago

@DaAwesomeP could you try this?

# This is an auto generated Dockerfile for ros:ros1-bridge
# generated from docker_images_ros2/ros1_bridge/create_ros_ros1_bridge_image.Dockerfile.em
FROM ros:galactic-ros-base-focal

# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list

# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

ENV ROS1_DISTRO noetic
ENV ROS2_DISTRO galactic

# install ros packages
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-noetic-ros-comm=1.15.14-1* \
    ros-noetic-roscpp-tutorials=0.10.2-1* \
    ros-noetic-rospy-tutorials=0.10.2-1* \
    git \
    && rm -rf /var/lib/apt/lists/*

RUN mkdir -p /bridge_ws/src
WORKDIR /bridge_ws/src
RUN git clone git@github.com:ipa-hsd/ros1_bridge.git -b action_bridge
WORKDIR /bridge_ws
RUN . /opt/ros/${ROS2_DISTRO}/setup.sh \
    && apt-get update \
    && rosdep install --from-paths src --ignore-src -r -y \
    && colcon build --symlink-install --packages-skip ros1_bridge \
    && . /opt/ros/${ROS1_DISTRO}/setup.sh \
    && . install/local_setup.sh \
    && rosdep update && rosdep install --from-paths src --ignore-src -r -y \
    && colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

# setup entrypoint
COPY ./ros_entrypoint.sh /

and you can use this ros_entrypoint.sh

gavanderhoorn commented 2 years ago

What would still be needed to get this merged?

@gbiggs? @ipa-hsd?

ros2 / ros1_bridge

Implemented action bridge #256