Add bridge mapping rule for action_tutorials_interfaces

[ruffsl]

Depends: ros2/ros1_bridge#256 (comment)

CC @ipa-hsd

[hsd-dev]

@ruffsl are you able to create the fibonacci bridge now?

[ruffsl]

With ruffsl/ros1_bridge@29ad938 from ruffsl/ros1_bridge#1 I was succesfully able to call the fibonacci servier in ROS1 from a client in ROS2.

root@28ee5068d3a9:/opt/overlay_ws# source install/setup.bash 
root@28ee5068d3a9:/opt/overlay_ws# ros2 run ros1_bridge action_bridge ros1 actionlib_tutorials Fibonacci fibonacci
ros1 actionlib_tutorials Fibonacci fibonacci
created action factory
[INFO] [1623951849.948650309] [ros_bridge]: Sending goal
[ INFO] [1623951849.950380734]: Goal [ACTIVE]
[ INFO] [1623951859.950501871]: Goal [WAITING_FOR_RESULT]
[ INFO] [1623951859.950583091]: Goal [DONE]
[ INFO] [1623951859.950804457]: Goal [SUCCEEDED]

root@28ee5068d3a9:/opt/overlay_ws# source /opt/ros/noetic/setup.bash 
root@28ee5068d3a9:/opt/overlay_ws# rosrun actionlib_tutorials fibonacci_server
[ INFO] [1623951849.950133947]: fibonacci: Executing, creating fibonacci sequence of order 10 with seeds 0, 1
[ INFO] [1623951859.950070762]: fibonacci: Succeeded

---

root@28ee5068d3a9:/opt/overlay_ws# source /opt/ros/galactic/setup.bash 
root@28ee5068d3a9:/opt/overlay_ws# ros2 run action_tutorials_cpp fibonacci_action_client 20
[INFO] [1623951849.946866153] [fibonacci_action_client]: Sending goal
[INFO] [1623951849.948485627] [fibonacci_action_client]: Goal accepted by server, waiting for result
[INFO] [1623951849.954644920] [fibonacci_action_client]: Next number in sequence received: 0 1 1 
[INFO] [1623951850.950359132] [fibonacci_action_client]: Next number in sequence received: 0 1 1 2 
[INFO] [1623951851.950389403] [fibonacci_action_client]: Next number in sequence received: 0 1 1 2 3 
[INFO] [1623951852.950415877] [fibonacci_action_client]: Next number in sequence received: 0 1 1 2 3 5 
[INFO] [1623951853.950375553] [fibonacci_action_client]: Next number in sequence received: 0 1 1 2 3 5 8 
[INFO] [1623951854.950354216] [fibonacci_action_client]: Next number in sequence received: 0 1 1 2 3 5 8 13 
[INFO] [1623951855.950416551] [fibonacci_action_client]: Next number in sequence received: 0 1 1 2 3 5 8 13 21 
[INFO] [1623951856.950422523] [fibonacci_action_client]: Next number in sequence received: 0 1 1 2 3 5 8 13 21 34 
[INFO] [1623951857.950401101] [fibonacci_action_client]: Next number in sequence received: 0 1 1 2 3 5 8 13 21 34 55 
[INFO] [1623951858.950428270] [fibonacci_action_client]: Next number in sequence received: 0 1 1 2 3 5 8 13 21 34 55 89 
[INFO] [1623951859.951256988] [fibonacci_action_client]: Result received: 0 1 1 2 3 5 8 13 21 34 55 89 

---

However, I was not able to go the other way, I.E calling the fibonacci servier in ROS2 from a client in ROS1. I tried restarting roscore and ros_bridge before repeating the test, but no such luck.

root@28ee5068d3a9:/opt/overlay_ws# source install/setup.bash 
root@28ee5068d3a9:/opt/overlay_ws# ros2 run ros1_bridge action_bridge ros2 action_tutorials_interfaces Fibonacci fibonacci
ros2 action_tutorials_interfaces Fibonacci fibonacci
Failed to create a factory

root@28ee5068d3a9:/opt/overlay_ws# source /opt/ros/galactic/setup.bash 
root@28ee5068d3a9:/opt/overlay_ws# ros2 run action_tutorials_cpp fibonacci_action_server 

---

root@28ee5068d3a9:/opt/overlay_ws# source /opt/ros/noetic/setup.bash 
root@28ee5068d3a9:/opt/overlay_ws# rosrun actionlib_tutorials fibonacci_client 20
[ INFO] [1623952141.722515008]: Waiting for action server to start.

[aefrank]

@ruffsl Just a note, using your Docker image I had to source /opt/overlay_ws/install/setup.bash to run ros2 run ros1_bridge action_bridge ros1 actionlib_tutorials Fibonacci fibonacci.

Just sourcing the noetic setup as you've shown gave me errors finding ros2, and sourcing the galactic setup and trying again gave me No executable found. Perhaps you had sourced the overlay install earlier in that shell so the command worked for you then. If that was your original shell in the container it was probably sourced by the entrypoint file.

[ruffsl]

If that was your original shell in the container it was probably sourced by the entrypoint file.

Yep, I've corrected my above comment.

[hsd-dev]

The command would be

ros2 run ros1_bridge action_bridge ros2 action_tutorials_interfaces action/Fibonacci fibonacci

The type strings can be found in bridge_ws/build/ros1_bridge/generated/.

[ruffsl]

The command would be

Oh, great, looks like this works both ways as well, just needed the correct type string.

The type strings can be found in bridge_ws/build/ros1_bridge/generated/.

I now see it's listed within the generated file, but it's not yet obvious why it's namespaced with action/

root@4e6f29d330e9:/opt/overlay_ws/build/ros1_bridge/generated# cat action_tutorials_interfaces__action__Fibonacci__factories.cpp | grep -I "action/Fibonacci"
      action_name == "action/Fibonacci"

[hsd-dev]

You could also use --print-pairs option for dynamic_bridge to get the supported actions

$ ros2 run ros1_bridge dynamic_bridge --print-pairs

Supported ROS 2 <=> ROS 1 action type conversion pairs:
  - 'action_tutorials_interfaces/action/Fibonacci' (ROS 2) <=> 'actionlib_tutorials/Fibonacci' (ROS 1)
  - 'tf2_msgs/action/LookupTransform' (ROS 2) <=> 'tf2_msgs/LookupTransform' (ROS 1)

[audrow]

This looks good to me once ros2/ros1_bridge#256 is merged in.