Add bridge mapping rule

ros2 · Jun 17, 2021 · 227004b · 227004b
1 parent 3af19c9
commit 227004b
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Showing 3 changed files with 16 additions and 0 deletions.
diff --git a/action_tutorials/action_tutorials_interfaces/CMakeLists.txt b/action_tutorials/action_tutorials_interfaces/CMakeLists.txt
@@ -22,6 +22,11 @@ find_package(rosidl_default_generators REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "action/Fibonacci.action")
 
+install(
+  FILES action_bridge_mapping_rule.yaml
+  DESTINATION share/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

diff --git a/action_tutorials/action_tutorials_interfaces/action_bridge_mapping_rule.yaml b/action_tutorials/action_tutorials_interfaces/action_bridge_mapping_rule.yaml
@@ -0,0 +1,10 @@
+# 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'
diff --git a/action_tutorials/action_tutorials_interfaces/package.xml b/action_tutorials/action_tutorials_interfaces/package.xml
@@ -22,5 +22,6 @@
   <member_of_group>rosidl_interface_packages</member_of_group>
   <export>
     <build_type>ament_cmake</build_type>
+    <ros1_bridge mapping_rules="action_bridge_mapping_rule.yaml" />
   </export>
 </package>