[question] YAML with mapping rules - which package should have it?

[ljaniec]

Hello,

I am trying to bridge my custom ROS1 and ROS2 message packages, unfortunately, without much success.

My question:

• Where should the mentioned yaml file be located? In the ROS1 message package or ROS2 message package or the ros1_bridge package? It is not clear to me in which one, because:

• By this part: https://github.com/ros2/ros1_bridge/blob/galactic/doc/index.rst#how-can-i-install-mapping-rule-files I think it should be ros1_bridge package and it's package.xml and CMakeLists.txt

• But by this example there: https://github.com/ros2/ros1_bridge/blob/galactic/doc/index.rst#how-can-i-install-mapping-rule-files the directory layout suggests it should be ROS2 message package?

Which version is correct? I think the documentation should be more precise there.

• Operating System: Ubuntu 20.04, ROS 2 Galactic (binaries), ROS 1 Noetic (binaries), default DDS

[quarkytale]

Hi the message mapping rule YAML file should reside in the ROS2 msgs package, included in ROS2 msgs package CMakeLists.txt and package.xml.

[quarkytale]

See this as an example, it was created for another issue but should help with file structure and installation. Note: ros1_bridge is a submodule in that repository, either git submodule update or manually clone it, if you're trying it out!

[ljaniec]

Thank you for the answer. I hope some additional notes will be added to the documentation so it will be clear for everyone

[quarkytale]

Sure, it'll be added with this commit https://github.com/ros2/ros1_bridge/pull/367/commits/7c6dcb91bfca85476353ab4f0fdbb9083d727155 in another PR.