1.同时安装ros1和ros2并验证
（1）ubuntu20安装好后ros1版本为noetic，ros2版本为
通过环境命令来查看当前控制台使用的ros版本
printenv | grep ROS
默认.bashrc 中注释掉
#source /opt/ros/noetic/setup.bash
#source /opt/ros/foxy/setup.bash
（2）验证ros2方法
在控制台中启用ros2环境
打开第一个终端：
source /opt/ros/foxy/setup.bash
ros2 run turtlesim turtlesim_node
打开第二个终端：
source /opt/ros/foxy/setup.bash
ros2 run turtlesim turtle_teleop_key
能看到小海龟并能用键盘控制。
（3）验证ros1方法
ros1需要启动roscore，然后启动小乌龟，其他类似。
2.验证ros1和ros2桥接
下面是验证在ros1中控制ros2中的小乌龟，在ros1中启动小乌龟，在ros2中发布控制命令控制ros1中小乌龟。
（1）启动roscore
source /opt/ros/noetic/setup.bash
roscore
（2）启动ros1中的小乌龟并查看是否有小乌龟话题
source /opt/ros/noetic/setup.bash
rosrun turtlesim turtlesim_node
rostopic list
注意，控制小乌龟是通过/turtle1/cmd_vel来接收命令的。
（3）使用ros2打开桥接，使ros1能够得到ros2发布的话题
#注意，同时启用ros2环境和ros1环境后再运行bridge
source /opt/ros/foxy/setup.bash
source /opt/ros/noetic/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
运行结果如下
created 1to2 bridge for topic '/rosout_agg' with ROS 1 type 'rosgraph_msgs/Log' and ROS 2 type 'rcl_interfaces/msg/Log'
created 2to1 bridge for topic '/rosout' with ROS 2 type 'rcl_interfaces/msg/Log' and ROS 1 type 'rosgraph_msgs/Log'
发现没有启动控制命令只桥接了基础话题/rosout_agg和/rosout
注意：如果没有安装ros-foxy-ros1-bridge，使用下面命令安装
sudo apt install ros-foxy-ros1-bridge
（4）在ros2中启动乌龟控制器
source /opt/ros/foxy/setup.bash
ros2 run turtlesim turtle_teleop_key
发现ros1_bridge新增打印如下
[INFO] [1750386004.061122908] [ros_bridge]: Passing message from ROS 1 rosgraph_msgs/Log to ROS 2 rcl_interfaces/msg/Log (showing msg only once per type)
然后按箭头控制发现可以控制小乌龟了。
3.验证ros2发布图像，ros1工程接收图像
3.1 ros2工程发布图像
image_publisher.cpp
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>using namespace std::chrono_literals;class ImagePublisher : public rclcpp::Node {
public:ImagePublisher() : Node("image_publisher") {publisher_ = this->create_publisher<sensor_msgs::msg::Image>("image_raw", 10);timer_ = this->create_wall_timer(100ms, std::bind(&ImagePublisher::timer_callback, this));cap_.open(0); // 使用摄像头if (!cap_.isOpened()) {RCLCPP_ERROR(this->get_logger(), "无法打开摄像头");throw std::runtime_error("无法打开视频源");}}private:void timer_callback() {cv::Mat frame;cap_ >> frame;if (!frame.empty()) {auto message = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", frame).toImageMsg();message->header.stamp = this->now();message->header.frame_id = "camera_frame";publisher_->publish(*message);RCLCPP_INFO(this->get_logger(), "发布图像");} else {RCLCPP_ERROR(this->get_logger(), "无法读取视频帧");}}rclcpp::TimerBase::SharedPtr timer_;rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr publisher_;cv::VideoCapture cap_;
};int main(int argc, char * argv[]) {rclcpp::init(argc, argv);auto node = std::make_shared<ImagePublisher>();rclcpp::spin(node);rclcpp::shutdown();return 0;
}
修改CMakeLists.txt
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(OpenCV REQUIRED)add_executable(image_publisher src/image_publisher.cpp)
ament_target_dependencies(image_publisher rclcpp sensor_msgs cv_bridge OpenCV)install(TARGETS image_publisherDESTINATION lib/${PROJECT_NAME})
编译运行后用ros2中的rviz2打开可以发现有图像实时显示。
source /opt/ros/foxy/setup.bash
ros2 run image_publisher_cpp image_publisher
ros2 run rviz2 rviz2
3.1 ros1中使用rviz显示图像
（1）启动话题转换节点
source /opt/ros/foxy/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
（2）启动ros2的图像发布工程
发现转换节点输出
created 2to1 bridge for topic '/image_raw' with ROS 2 type 'sensor_msgs/msg/Image' and ROS 1 type 'sensor_msgs/Image'
说明转换成功
（3）使用ros1中的rviz显示图像
source /opt/ros/noetic/setup.bash
rostopic list
rviz
成功看到图像
