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ros2 / ros1_bridge

ROS 2 package that provides bidirectional communication between ROS 1 and ROS 2
Apache License 2.0
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use hardcoded QoS (keep all, transient local) for /tf_static topic in dynamic_bridge #282

Closed dirk-thomas closed 4 years ago

dirk-thomas commented 4 years ago

Otherwise the latched ROS 1 message won't be "latched" on the ROS 2 side and commonly ROS 2 subscribers of the /tf_static topic will use the QoS transient_local and therefore won't be matched with volatile publishers.

Build Status

dirk-thomas commented 4 years ago

Build Status

vmanchal1 commented 4 years ago

Is this fix going to be available in any of the patches to Foxy?

wjwwood commented 4 years ago

@vmanchal1 there was a new release recently, it should be in the next patch release of Foxy I guess: https://github.com/ros/rosdistro/pull/26380

dirk-thomas commented 4 years ago

there was a new release recently, it should be in the next patch release of Foxy I guess

I don't think that is the case. The patch has only landed on master. Neither has it been backported to foxy nor has the foxy branch been fast forwarded to the state of the master branch.

@jacobperron Are you ok with releasing new patch release into rolling as well as fast forwarding the foxy branch?

jacobperron commented 4 years ago

Are you ok with releasing new patch release into rolling as well as fast forwarding the foxy branch?

SGTM (I didn't look too closely at binary compatibility, but I'm not sure if we should worry about that for this leafy package).

dirk-thomas commented 4 years ago

I didn't look too closely at binary compatibility

This patch only adds API.

Is this fix going to be available in any of the patches to Foxy?

I just made and upstream release of 0.9.4 on master and also fast forwarded foxy. The bloom release is still pending though since the release repo has some incompatible patches... @jacobperron ?

dirk-thomas commented 4 years ago

The Foxy release: ros/rosdistro#26519.

dirk-thomas commented 4 years ago

And the same release into Rolling: ros/rosdistro#26520.

royito55 commented 3 years ago

Is this change implemented in the parameter_bridge?

If it is not, does it mean I have to install it from source and make the changes to be able to recompile? Or is there a way to edit the binary? (I know there probably isn't)

Finally, would this post address the issue of not all transforms appearing while using the parameter_bridge, even though they appear using the dynamic_bridge? https://answers.ros.org/question/349230/problem-passing-tf_static-through-ros1_bridge-to-ros2/