rosbridge_bridge

This system can help connect mutliple roscores using rosbridge. Note that in most cases it is recommended to use one roscore or a more advanced multimaster system.

The details of this ros node is in here (Japanese) (Qiita ROS Advent Calendar 2021).

Features

• forward topics between multiple ros masters
• works with WSL2
• use include / exclude rules to specify topic names
• optionally add topic prefixes
  • /cmd_vel => /cmd_vel
  • /cmd_vel => /robot_a/cmd_vel

Dependencies

ROS bridge, rospy-message-converter, roslibpy

sudo apt-get install ros-<rosdistro>-rosbridge-server ros-<rosdistro>-rospy-message-converter
pip3 install roslibpy

launch

This program only forwards in one direction. If you want to forward topics in both directions there must be an instance of this node on both sides. It is important that the configurations are different because otherwise messages will be forwarded endlessly between the two nodes.

There are two modes: rosbridge_to_rosbridge forwards between two rosbridge servers and rosbridge_to_ros forwards from a rosbridge server to the local roscore.

ROS bridge websocket server

roslaunch rosbridge_server rosbridge_websocket.launch

ROS to ROS Bridge (this node)

roslaunch rosbridge_bridge rosbridge_to_rosbridge.launch

OR

roslaunch rosbridge_bridge rosbridge_to_ros.launch

param name	default	description
host_from	127.0.0.1	Address of Websocket server to subscribe on
port_from	9090	Port of Websocket server to subscribe on
host_to	127.0.0.1	Address of Websocket server to publish on
port_to	9090	Port of Websocket server to publish on
use_id_for_ns	false	Use id as topic name prefix? (If true, /cmd_vel => /id/cmd_vel)
config_file	conf/config.yaml	Location of forwarding rule configuration file

Config

Use rosbridge_bridge/conf/config.yaml to set rules for including or excluding topics to forward. Adding any "include" rules will cause the "exclude" rules to be ignored.

Item	Explanation
id	id for topicname when bridge
exclude_topics	Topics for which bridges are excluded
include_topics	The topic to be bridged (topic name and data type)