Implemented action bridge (ros2#256)

Co-authored-by: tomoya <[email protected]> Co-authored-by: Geoffrey Biggs <[email protected]> Signed-off-by: Victor Lopez <[email protected]> Signed-off-by: Harsh Deshpande <[email protected]>
gavanderhoorn · Oct 16, 2024 · 7429c77 · 7429c77
1 parent 0387316
commit 7429c77
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Showing 14 changed files with 1,498 additions and 31 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(rclcpp_action REQUIRED)
 
 # find ROS 1 packages
 set(cmake_extras_files cmake/find_ros1_package.cmake cmake/find_ros1_interface_packages.cmake)
@@ -43,6 +44,7 @@ if(NOT ros1_roscpp_FOUND)
 endif()
 
 find_ros1_package(std_msgs REQUIRED)
+find_ros1_package(actionlib REQUIRED)
 
 # Dependency that we should only look for if ROS 1 is installed (it's not present on a ROS 2
 # system; see https://github.com/ros2/ros1_bridge/pull/331#issuecomment-1188111510)
@@ -146,7 +148,7 @@ foreach(package_name ${ros2_interface_packages})
       file(TO_CMAKE_PATH "${interface_file}" interface_name)
       get_filename_component(interface_basename "${interface_name}" NAME_WE)
       # skipping actions and request and response messages of services
-      if(NOT "${interface_name}" MATCHES "^(msg|srv)/" OR "${interface_basename}" MATCHES "_(Request|Response)$")
+      if(NOT "${interface_name}" MATCHES "^(msg|srv|action)/" OR "${interface_basename}" MATCHES "_(Request|Response)$")
         continue()
       endif()
       string(REPLACE "/" "__" interface_name "${interface_name}")
@@ -227,6 +229,7 @@ ament_target_dependencies(${PROJECT_NAME}
   ${prefixed_ros1_message_packages}
   ${ros2_interface_packages}
   "rclcpp"
+  "rclcpp_action"
   "ros1_roscpp"
   "ros1_std_msgs")
 
@@ -242,6 +245,13 @@ custom_executable(static_bridge
 target_link_libraries(static_bridge
   ${PROJECT_NAME})
 
+custom_executable(action_bridge
+  "src/action_bridge.cpp"
+  ROS1_DEPENDENCIES
+  TARGET_DEPENDENCIES ${ros2_interface_packages})
+target_link_libraries(action_bridge
+  ${PROJECT_NAME})
+
 custom_executable(parameter_bridge
   "src/parameter_bridge.cpp"
   ROS1_DEPENDENCIES

diff --git a/README.md b/README.md
@@ -527,3 +527,51 @@ topics:
 ```
 
 Note that the `qos` section can be omitted entirely and options not set are left default.
+
+# Action bridge
+
+This bridge extends the `ros1_bridge` to support actions. The bridge works in both directions, meaning an action goal can be sent from ROS 1 client to ROS 2 server, or from ROS 2 client to ROS 1 server.
+
+The arguments for the `action_bridge` node are:  
+`direction`: from client (`ros1` or `ros2`)
+e.g.:
+- `ROS1` client to `ROS2` server --> `direction` = `ros1`
+- `ROS2` client to `ROS1` server --> `direction` = `ros2`  
+
+`package`: package of the `ROS1` server node  
+`type`: action interface type of `ROS1`  
+`name`: action name
+
+For sending goals from a ROS 2 action client to a ROS 1 action server
+```
+# Terminal 1 -- action bridge
+# Make sure roscore is already running
+source <ros1_bridge-install-dir>/setup.bash
+ros2 run ros1_bridge action_bridge ros1 actionlib_tutorials Fibonacci fibonacci
+
+# Terminal 2 -- ROS 1 action server
+source <ros1-install-dir>/setup.bash
+rosrun actionlib_tutorials fibonacci_server
+
+# Terminal 3 -- ROS 2 action client
+source <ros2-install-dir>/setup.bash
+ros2 run action_tutorials_cpp fibonacci_action_client 20
+```
+
+For sending goals from a ROS 1 action client to a ROS 2 action server
+```
+# Terminal 1 -- action bridge
+# Make sure roscore is already running
+source <ros1_bridge-install-dir>/setup.bash
+ros2 run ros1_bridge action_bridge ros2 action_tutorials_interfaces action/Fibonacci fibonacci
+
+# Terminal 2 -- ROS 2 action server
+source <ros2-install-dir>/setup.bash
+ros2 run action_tutorials_cpp fibonacci_action_server
+
+# Terminal 3 -- ROS 1 action client
+source <ros1-install-dir>/setup.bash
+rosrun actionlib_tutorials fibonacci_client 20
+```
+
+`dynamic_bridge` has been extended to handle actions as well.