Add ros1_bridge example (Ubuntu Focal, ROS 2 Humble, ROS 1 Noetic)

[Ryanf55]

Purpose

Share some work I did getting this combination of distributions working together with ros1_bridge. I don't think the maintainers are interested in supporting Tier 3 distros in these repos, hosting the built images, or dealing with maintenance; this is more just for information.

This combination of distributions is what teams would likely adopt to move from ROS 1 to ROS 2 using the bridge as outlined in a few ROSCon talks. The talks were all written when ros1_bridge had docker images that worked with Foxy, but now there are none. This PR fills that gap for people who need to migrate to ROS 2.

This example avoids terrible hacks with libraries when you try building ROS 1 noetic on Ubuntu Jammy.

If you have questions, please submit issues to my fork. I'll try to maintain this till ROS 1 is EOL.

Details

• for Ubuntu Focal
• ROS 1 Noetic (binary install, full tier 1 support at the moment)
• ROS 2 Humble (source build, tier 3 - community maintained)
• Works with custom message files
• Not suitable for merge due to use of tier 3 platforms
• Disable environment sourcing because it needs to be in very specific orders in certain use cases
• Add a README how to build the two images
• Demonstrate building ros1_bridge with mavros as an example custom message package

[mikaelarguedas]

Thanks @Ryanf55 for the initiative !

The topic of hosting examples and images of ros1_bridge setups on tier 3 or non tier platforms has been brought up in the Infra and ROS PMC this week. A Noetic EOL working group is being formed and the will be able to provide us guidance on recommended places to host such examples or artifacts.

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pedantic remark: rosbridge is the websocket bridging project, probably better to stick with ros1_bridge to refer to the project to bridge message between ROS 1 and ROS 2 systems

[Ryanf55]

Thanks @Ryanf55 for the initiative !

The topic of hosting examples and images of ros1_bridge setups on tier 3 or non tier platforms has been brought up in the Infra and ROS PMC this week. A Noetic EOL working group is being formed and the will be able to provide us guidance on recommended places to host such examples or artifacts.

Thanks! Feel free to tag me, I'd love to contribute to migration resources to help others out.

pedantic remark: rosbridge is the websocket bridging project, probably better to stick with ros1_bridge to refer to the project to bridge message between ROS 1 and ROS 2 systems

Ah, yes, my bad. I just fixed up all the references in the description, code, and commit history - no use confusing anyone.