1 00:00:01,050 --> 00:00:02,460 As we learned in Section one. 2 00:00:02,460 --> 00:00:08,490 Ross One was around for a long time till the Ross to architecture came around to fix some of its communication 3 00:00:08,490 --> 00:00:09,180 woes. 4 00:00:09,450 --> 00:00:15,030 However, there were so many programs by this time which were developed and dependent on Ross one, 5 00:00:15,030 --> 00:00:21,750 so trying to adapt entire codebases quickly to Ross two could easily be seen as problematic and costly. 6 00:00:21,900 --> 00:00:28,290 So trying to have legacy Ross one systems communicate with Ross too quickly became a key topic as a 7 00:00:28,290 --> 00:00:30,060 means of backwards compatibility. 8 00:00:30,600 --> 00:00:36,900 Thus comes the Ross one bridge, which, as its name suggests, Bridges, Ross one and Ross two nodes 9 00:00:36,900 --> 00:00:39,270 together to be able to communicate with each other. 10 00:00:39,600 --> 00:00:44,970 Now, the last time Ross two and Ross one were supported on the same version was Ross one Noetic and 11 00:00:44,970 --> 00:00:47,960 Ross to Foxy on Ubuntu 20.4. 12 00:00:47,970 --> 00:00:54,750 So this lecture is shot on an Ubuntu 20.4 machine with both Ross noetic and Foxy installed on it. 13 00:00:54,750 --> 00:00:57,190 So by all means no need to follow along. 14 00:00:57,210 --> 00:01:02,370 This is purely for educational purposes in case you ever find yourself needing to bridge the old Ross 15 00:01:02,370 --> 00:01:04,620 one package to Ross two. 16 00:01:05,130 --> 00:01:08,850 Another common way to use the Ross Bridge is with the help of Docker images. 17 00:01:08,850 --> 00:01:12,390 But this course will not be covering the use of Docker with Ross. 18 00:01:12,870 --> 00:01:15,510 With that info out of the way, let's get started. 19 00:01:17,070 --> 00:01:22,110 So the first thing I'm going to do is head over to my bachelor si file, which I'll edit in. 20 00:01:22,110 --> 00:01:22,620 Adam. 21 00:01:26,950 --> 00:01:27,880 At the bottom. 22 00:01:27,880 --> 00:01:31,210 We should have our sources for our Ross two installation. 23 00:01:31,660 --> 00:01:35,920 I'm going to go ahead and comment mines out so that no Ross is sourced. 24 00:01:36,430 --> 00:01:38,830 I'll go ahead and save this and close. 25 00:01:39,620 --> 00:01:46,310 Now, if I open a new terminal, I should be unable to use Ros two or any ROS one commands. 26 00:01:49,720 --> 00:01:56,470 Now we can move on to installing ROS one onto our system so that we can utilize the bridge here locally. 27 00:01:57,680 --> 00:02:02,210 So here I'm on the Ross Noetic installation page since I'm currently running Ubuntu 20. 28 00:02:03,150 --> 00:02:04,770 So go ahead and open up a terminal. 29 00:02:05,940 --> 00:02:07,950 We'll go ahead and set up our sources list. 30 00:02:11,280 --> 00:02:12,330 Put in your password. 31 00:02:14,400 --> 00:02:16,200 Then we'll go ahead and set up our keys. 32 00:02:22,150 --> 00:02:24,190 Then we'll run pseudo apps update. 33 00:02:28,300 --> 00:02:28,900 All right. 34 00:02:29,170 --> 00:02:30,310 Go ahead and clear the screen. 35 00:02:30,310 --> 00:02:36,130 And for the purposes of this video, I'm not going to install the full desktop version of Rosenau wedding, 36 00:02:36,160 --> 00:02:41,460 partly because it will also coincide with my current installations of RVs and Gazebo. 37 00:02:41,470 --> 00:02:46,120 So instead, what I'm going to do is just simply install the base version of Ross Noetic. 38 00:02:46,120 --> 00:02:49,930 So this will just give me the basic packages and communication libraries. 39 00:02:49,960 --> 00:02:52,750 No user interface tools or anything like that. 40 00:02:52,750 --> 00:02:54,760 So I'll just go ahead and install this. 41 00:02:56,110 --> 00:02:56,740 I'll go ahead and hit. 42 00:02:56,740 --> 00:02:57,460 Yes. 43 00:02:59,790 --> 00:03:01,310 And so this will take a while to install. 44 00:03:01,320 --> 00:03:04,560 So go ahead and pause the video now and we'll come back once it's finished. 45 00:03:05,660 --> 00:03:09,860 All right, so the installation finished and we can just see that all it did was set up all the packages 46 00:03:10,790 --> 00:03:12,930 That took about maybe 4 minutes for me. 47 00:03:12,950 --> 00:03:16,010 Now we'll go ahead and move on with the environment set up of this. 48 00:03:16,010 --> 00:03:20,010 So in order for us to utilize our Ross one, we can't use anything yet. 49 00:03:20,010 --> 00:03:23,540 So I use Ross core, which is a Ross one command to start the Ross master. 50 00:03:23,720 --> 00:03:27,800 Even though we have Ross installed, we can't use anything because we haven't set up our environment 51 00:03:27,800 --> 00:03:28,340 file. 52 00:03:28,340 --> 00:03:34,850 So if I go ahead and source my terminal environment, we should now see that I can run things like Ross 53 00:03:34,850 --> 00:03:35,270 Corp. 54 00:03:36,320 --> 00:03:36,770 Great. 55 00:03:36,770 --> 00:03:43,100 So now this device has Ross one and Ross two installed on it, but by default neither will be sourced 56 00:03:43,100 --> 00:03:44,180 on terminal startup. 57 00:03:46,530 --> 00:03:50,880 So the next thing we're going to do is we're going to make sure that we have all these other dependencies 58 00:03:50,880 --> 00:03:52,320 for building packages. 59 00:03:52,680 --> 00:03:55,200 So I'll go ahead and copy and paste this in. 60 00:03:56,430 --> 00:03:57,870 Go ahead and hit Y and enter. 61 00:04:01,080 --> 00:04:06,270 And in most cases you'll already have Ross step initialized, but you can double check by pasting in 62 00:04:06,270 --> 00:04:10,740 this so we can see I've already have it installed and I already have it initialized. 63 00:04:12,740 --> 00:04:15,350 And we can double check that it's initialized by running these commands. 64 00:04:16,220 --> 00:04:20,600 So here we can see error sources file already exists, so I'm not going to bother removing that one. 65 00:04:20,600 --> 00:04:21,200 Creating a new one. 66 00:04:21,200 --> 00:04:22,400 I'll just leave it as is. 67 00:04:23,930 --> 00:04:28,820 So now we have Ros one and Ros two installed and we have our actual dependencies if we have to build 68 00:04:28,820 --> 00:04:29,850 any packages. 69 00:04:29,870 --> 00:04:33,890 So for now, I'm going to start off clean with a new terminal environment that's not sourced on any 70 00:04:33,890 --> 00:04:34,610 raw system. 71 00:04:34,610 --> 00:04:43,130 So now if I run Ros to help see Ros two command not found or ROS core and we see Rostker not found. 72 00:04:43,370 --> 00:04:46,880 So this terminal instance can't see either one of our ROS installations. 73 00:04:46,880 --> 00:04:48,830 So now we'll go ahead to the ROS. 74 00:04:48,830 --> 00:04:50,570 One bridge documentation. 75 00:04:52,250 --> 00:04:53,930 All right, so here are the prerequisites. 76 00:04:53,930 --> 00:04:57,680 We should have majority of these prerequisites from the basic installation. 77 00:04:57,680 --> 00:05:02,180 But first off, I'll go ahead and source the Ross one installation as these were catered towards the 78 00:05:02,180 --> 00:05:03,650 Ross one installation. 79 00:05:03,650 --> 00:05:10,370 So I'll do source slash opt slash Ross noetic. 80 00:05:13,620 --> 00:05:16,530 And so now I should have access to my tools like raw Core. 81 00:05:17,070 --> 00:05:18,360 And we can see I do. 82 00:05:19,080 --> 00:05:23,340 And now I'll just make sure that I have all these other packages installed, which I can do using sudo 83 00:05:23,340 --> 00:05:25,320 apt install. 84 00:05:26,550 --> 00:05:31,620 And then we do Ross the name of the distribution, which in this case for me is noetic. 85 00:05:32,130 --> 00:05:33,870 And then the name of the package. 86 00:05:33,870 --> 00:05:40,350 So things like CAT scan, raw CP ros launch ros message should all be already installed because that 87 00:05:40,350 --> 00:05:42,120 comes with the basic installation. 88 00:05:42,300 --> 00:05:47,550 The main things we're going to be missing though are going to be those that are utilized for the examples, 89 00:05:47,550 --> 00:05:50,850 including the tutorials and the RCT image view. 90 00:05:51,270 --> 00:05:53,700 So I can go ahead and install those specifically. 91 00:05:56,810 --> 00:06:02,030 And note instead of using underscores when using the pseudo app command, you should use just a simple 92 00:06:02,030 --> 00:06:05,480 dash when you see the package name separated by underscores. 93 00:06:07,700 --> 00:06:11,570 So as you can see here, instead of doing Ross PI underscore tutorials. 94 00:06:11,600 --> 00:06:16,760 I am doing Ross P dash tutorials, but that correlates to the correct package. 95 00:06:19,450 --> 00:06:22,480 And then last but not least, I'll install the RCT image view. 96 00:06:30,110 --> 00:06:30,530 All right. 97 00:06:30,530 --> 00:06:32,350 And we should be good to go on that front. 98 00:06:32,360 --> 00:06:36,320 You can double check with all the other packages that you have then properly installed. 99 00:06:37,580 --> 00:06:38,270 Moving on. 100 00:06:38,270 --> 00:06:40,520 We can go on to building the bridge from source. 101 00:06:40,610 --> 00:06:44,060 So earlier we installed ROS two from source. 102 00:06:44,060 --> 00:06:49,190 And so in order to utilize it, we're actually have to make sure that we skip the ROS one bridge command 103 00:06:49,220 --> 00:06:50,540 on build initially. 104 00:06:50,540 --> 00:06:53,300 So I'll go ahead and do that now in a new terminal. 105 00:07:12,680 --> 00:07:17,930 So here you are seeing we're rebuilding the Ross two installation, but this should go by a lot faster 106 00:07:17,930 --> 00:07:19,640 since we've already built it already. 107 00:07:19,640 --> 00:07:22,940 This time we're just simply skipping the Ross one bridge. 108 00:07:28,830 --> 00:07:30,500 That took 20 minutes or so. 109 00:07:30,510 --> 00:07:34,880 We did have some standard error outputs from GUI and M.W.. 110 00:07:35,070 --> 00:07:40,260 Next, I'm not going to be using next and I'm don't plan on using the RCT, so I don't think this will 111 00:07:40,260 --> 00:07:41,580 affect us for right now. 112 00:07:41,880 --> 00:07:47,130 So I'm just going to continue on with the read me documentation for utilizing the raster bridge. 113 00:07:48,420 --> 00:07:51,290 So now we need to source our Ross one environment. 114 00:07:51,300 --> 00:07:54,000 So what we will do is do the source. 115 00:07:57,900 --> 00:08:05,410 So we will do source slash OP slash Ross Noetic set up bash. 116 00:08:11,000 --> 00:08:16,310 Now we will source the Ross two installation, which is located here in my Workspaces directory, so 117 00:08:16,310 --> 00:08:19,890 I'll do source install setup bash. 118 00:08:22,900 --> 00:08:26,110 And so it'll mention that the distribution was noetic before. 119 00:08:26,320 --> 00:08:28,660 That's fine, because that's what indeed we were doing. 120 00:08:28,660 --> 00:08:33,220 We had our ROS one source and then now we just source our Ros Fox, the installation. 121 00:08:34,040 --> 00:08:37,640 Now we can build the Ross one bridge using this command. 122 00:08:39,960 --> 00:08:43,530 And so this will only rebuild the Ross one bridge package. 123 00:08:43,530 --> 00:08:46,530 So it won't rebuild the whole Ross to installation. 124 00:08:46,530 --> 00:08:47,790 So we'll go ahead and run this. 125 00:08:50,790 --> 00:08:53,130 All right, So our Rosslyn Bridge finished building. 126 00:08:53,130 --> 00:08:54,900 That took about 8 minutes for me. 127 00:08:55,710 --> 00:08:58,710 So we'll go through and try to run some examples. 128 00:08:59,860 --> 00:09:05,260 So I'll go ahead and open up new terminals that are independent of this one, since this one has both 129 00:09:05,260 --> 00:09:06,160 of them sourced. 130 00:09:07,090 --> 00:09:08,080 So I'll put this one away. 131 00:09:09,440 --> 00:09:14,870 So the first one I'll do is source this terminal to have only Ross one to imitate my previous robot 132 00:09:14,870 --> 00:09:23,450 or system, which only ran Ross one code such as source slash opt Ross Noetic set up dot bash, 133 00:09:27,470 --> 00:09:29,690 and then we'll just run a Ross core instance. 134 00:09:31,740 --> 00:09:37,560 Then for this example, we'll need another shell which has Ross one and then Ross to source, which 135 00:09:37,560 --> 00:09:40,390 pretty much makes up the previous terminal we had and did our insulation. 136 00:09:40,470 --> 00:09:41,910 So I'm going to bring that one back. 137 00:09:44,550 --> 00:09:50,430 And what we're going to do is export the Ross Master Uri to match that of the local host or in this 138 00:09:50,430 --> 00:09:52,770 case, what this URI should be. 139 00:09:53,430 --> 00:09:56,220 So we can go ahead and export that. 140 00:09:57,260 --> 00:09:59,960 And now we can try run the Ross to bridge. 141 00:10:05,600 --> 00:10:05,930 All right. 142 00:10:05,930 --> 00:10:11,030 So here we can see that it created a bridge for the Ross out and Rxl interface tags. 143 00:10:11,540 --> 00:10:19,670 So here, if I go and open a new terminal tab Source Opt Ross Noetic Setup dot Bash Ross Topic list. 144 00:10:20,510 --> 00:10:24,830 All right, so we see that it converted our Ross out from Ross one to Ross two. 145 00:10:25,070 --> 00:10:28,010 All right, so now we can go ahead and actually start some nodes. 146 00:10:28,040 --> 00:10:33,320 For this example, we'll need another terminal which has our Ross one sourced, which I just did here. 147 00:10:33,560 --> 00:10:39,410 So I'll actually go ahead and clear the screen and we'll go ahead and run our talker node from the tutorials. 148 00:10:42,080 --> 00:10:44,480 So here we see these Hello Worlds publishing out. 149 00:10:44,660 --> 00:10:48,050 And now I can go ahead and open up another Ross to instance. 150 00:10:48,050 --> 00:10:49,640 So this one has our roster bridge running. 151 00:10:49,640 --> 00:10:57,440 So I'm going to open up another terminal tab, and I'm going to source our install setup dot, dot bash 152 00:10:57,530 --> 00:10:58,040 file. 153 00:11:00,530 --> 00:11:02,750 And then we can do our listener node. 154 00:11:07,650 --> 00:11:13,770 And here we can see we are receiving the Hello world messages here on this Ross two terminal from. 155 00:11:14,460 --> 00:11:21,010 This Ross One instance running our Talker node from Ross Noetic to Ross Foxy. 156 00:11:21,090 --> 00:11:21,960 So there you go. 157 00:11:21,960 --> 00:11:28,110 That's how you can utilize the Ross Bridge to bridge over perhaps old nodes that you had made in Ross 158 00:11:28,110 --> 00:11:31,440 one, and then you can implement them into Ross two nodes. 159 00:11:31,750 --> 00:11:33,120 So go ahead and stop these. 160 00:11:39,490 --> 00:11:40,780 That's it for this part of the video. 161 00:11:40,780 --> 00:11:46,960 I will do a second part of the video where I will do Cross-device communication using the Ross Bridge. 162 00:11:49,640 --> 00:11:50,690 All right, So here we are. 163 00:11:50,690 --> 00:11:56,450 I have two different computers going right now that are connected to each other via an Ethernet switch. 164 00:11:56,570 --> 00:12:03,770 So the first one is our original computer, which is running our Ubuntu 20, where we have our ROS two 165 00:12:03,770 --> 00:12:06,440 Foxy installed as well as ROS one noetic. 166 00:12:07,160 --> 00:12:08,150 On the second computer. 167 00:12:08,150 --> 00:12:13,010 We have a laptop of mine that's running Ubuntu 18 and this one is running RAR melodic. 168 00:12:13,250 --> 00:12:17,750 So starting off with my laptop, I can go ahead and open up a terminal here just to show this to you. 169 00:12:17,780 --> 00:12:26,680 If I go over and do Ross version dash D you can see I'm running melodic and if I were to do Ros to help, 170 00:12:26,690 --> 00:12:29,230 you can see that I do not have Ros to install. 171 00:12:30,140 --> 00:12:32,150 All right, so that's the first thing to note. 172 00:12:32,240 --> 00:12:36,290 So the second thing to note when working with two different systems is that each one will have its own 173 00:12:36,290 --> 00:12:40,910 independent IP address either by you setting it or by a router setting it. 174 00:12:40,940 --> 00:12:44,660 So if I can check that by running the if config command. 175 00:12:45,110 --> 00:12:53,790 And so here we can see my IP address for this computer is 192.168.50.177. 176 00:12:53,810 --> 00:12:59,810 So all my other local computers that are on this network can access or communicate with this computer 177 00:12:59,810 --> 00:13:02,570 by locating this IP address. 178 00:13:02,690 --> 00:13:06,440 So we can do the same thing over here on my Ubuntu 20 machine. 179 00:13:06,440 --> 00:13:17,370 So if I go over here and I type in F config, you can see this machine has an IP address of 192.168.50.3. 180 00:13:17,390 --> 00:13:21,950 So be wary of what your machine's IP addresses are because they will vary from mine. 181 00:13:21,950 --> 00:13:24,830 If you are trying to reproduce what I'm about to do here. 182 00:13:25,250 --> 00:13:25,640 All right. 183 00:13:25,640 --> 00:13:31,310 So heading back to my machine running Ubuntu 18, I can go ahead and clear the screen so this will be 184 00:13:31,310 --> 00:13:36,230 running our ROS1 instance and we'll be simulating essentially that this is one of our robots running 185 00:13:36,230 --> 00:13:37,340 a ROS1 node. 186 00:13:37,340 --> 00:13:41,990 And then we want our Ubuntu 20 machine which has RAS two and RAS one installed to be able to communicate 187 00:13:41,990 --> 00:13:42,860 with this one. 188 00:13:43,130 --> 00:13:45,620 And so we don't want to have to install Rasta in this machine. 189 00:13:45,620 --> 00:13:47,750 So we're going to go through how we can go about doing that. 190 00:13:47,900 --> 00:13:53,360 If we have an older robot that we developed code for, we can still utilize it with newer machines that 191 00:13:53,360 --> 00:13:54,470 run ROS two. 192 00:13:54,950 --> 00:14:00,530 So the first thing to note, whenever we're dealing with ROS networking, we have to set Ros Master 193 00:14:00,530 --> 00:14:03,520 Uri and the ROS IP of the device. 194 00:14:03,530 --> 00:14:05,150 So I've gone ahead and listed these down. 195 00:14:05,150 --> 00:14:09,080 Right, So we just took note of the IP address and I'll put it back up on here. 196 00:14:09,080 --> 00:14:10,250 I have config. 197 00:14:10,280 --> 00:14:10,730 All right. 198 00:14:10,730 --> 00:14:14,300 So this one is 192.168 50.177. 199 00:14:14,330 --> 00:14:20,300 So in ROS one there was a central ROS master server which all the ROS nodes would have to communicate 200 00:14:20,300 --> 00:14:20,660 with. 201 00:14:20,660 --> 00:14:23,150 I will have that set running on this computer. 202 00:14:23,150 --> 00:14:26,660 So what I will do is set my Ros master Uri. 203 00:14:28,500 --> 00:14:36,600 Variable by using the export command and I will set it to this IP address or I'll set it to HTTP colon 204 00:14:36,600 --> 00:14:43,980 slash, slash this IP address and then port 11 311, which is the default port Ross one runs off of. 205 00:14:44,320 --> 00:14:45,690 So I'll go ahead and run that. 206 00:14:46,350 --> 00:14:52,680 Then I'm going to set the Ross IP of this particular device, which is just the IP address part. 207 00:14:52,680 --> 00:14:56,610 So you don't need the HTTP and you don't need the port number at the end of it. 208 00:14:57,270 --> 00:15:02,550 And so with that, now this knows that the Ross master should be running on this machine on Port 11 209 00:15:02,550 --> 00:15:07,920 311 because this is the same the machine with this particular IP address. 210 00:15:09,190 --> 00:15:14,410 So now we can go ahead and start our ROS master using the four Ros one using Ros core. 211 00:15:15,750 --> 00:15:18,180 Okay, so now we have our core instance running. 212 00:15:18,180 --> 00:15:20,040 So our Ros Melodic is running. 213 00:15:20,190 --> 00:15:22,740 So now if we go over to our 1 to 20 Machine. 214 00:15:23,660 --> 00:15:28,270 We can run through the first example from the Rosslyn Bridge documentation in a very similar way. 215 00:15:28,280 --> 00:15:35,570 So right now our shell A which is ROS1 only is that ubuntu 18 computer that I just ran rostker on. 216 00:15:35,570 --> 00:15:39,050 So that only has ra melodic on it and it's now running core. 217 00:15:39,230 --> 00:15:43,760 So now this will be our shell b so we first source ros one. 218 00:15:43,760 --> 00:15:48,590 In this case I don't have melodic but I have noetic, but this will still work even though it's a different 219 00:15:48,590 --> 00:15:49,220 distribution. 220 00:15:49,220 --> 00:15:55,640 So if I go ahead and run this source command right here I am sourcing my noetic setup that bash where 221 00:15:55,640 --> 00:15:56,630 I installed it. 222 00:15:57,380 --> 00:16:00,560 So now my RA noetic is source for this terminal. 223 00:16:00,560 --> 00:16:06,440 Then we'll go ahead and source our ROS two instance, which I also have here because I built ROS two 224 00:16:06,470 --> 00:16:07,040 from source. 225 00:16:07,040 --> 00:16:09,170 So I have it here in my workspaces folder. 226 00:16:09,170 --> 00:16:12,170 Ros do foxy and then install setup dot bash. 227 00:16:12,650 --> 00:16:17,390 And so we get a little warning here saying set to noetic before please make sure, but that's totally 228 00:16:17,390 --> 00:16:17,870 fine. 229 00:16:17,870 --> 00:16:25,220 So for now I'm just going to clear the screen and now we need to export the ROS master Uri and our ROS 230 00:16:25,220 --> 00:16:27,680 IP address to match what it's supposed to be. 231 00:16:27,680 --> 00:16:33,380 So first off, we will set the ROS master Uri to the same thing we just set it to on the other computer. 232 00:16:33,380 --> 00:16:33,590 Right. 233 00:16:33,590 --> 00:16:39,020 So the ROS master is running on the Ubuntu 18 computer which has this IP address. 234 00:16:39,020 --> 00:16:41,960 So this will be our master URI we want to communicate with. 235 00:16:42,080 --> 00:16:47,960 And then as we mentioned, if I type in if config, right, this is the IP address for this specific 236 00:16:47,960 --> 00:16:48,650 computer. 237 00:16:48,650 --> 00:16:54,560 So I'm going to export the ROS IP variable here in my terminal so that it knows that this is the ROS 238 00:16:54,560 --> 00:16:56,090 IP of this machine. 239 00:16:56,960 --> 00:16:57,230 Cool. 240 00:16:57,260 --> 00:17:01,940 That I can go ahead and clear the screen and now we can run our Ros Bridge. 241 00:17:02,330 --> 00:17:08,930 So if I go ahead and run this Ros to run Ros one bridge dynamic bridge, I can go ahead and run it. 242 00:17:09,350 --> 00:17:14,330 And now you can see it created the bridge and it's already beginning to convert those messages. 243 00:17:14,540 --> 00:17:20,720 Now we can actually open up another terminal to follow through with this example and we will open this 244 00:17:20,720 --> 00:17:24,950 up on our Ubuntu 18 machine and this will be our talker node that comes with just the normal ros PE 245 00:17:24,980 --> 00:17:26,660 tutorials for ROS one. 246 00:17:26,870 --> 00:17:29,000 So I'll go ahead and do that now. 247 00:17:29,000 --> 00:17:30,350 So control alt dt. 248 00:17:30,620 --> 00:17:35,150 So now I have a new terminal here and just to make sure again, just to prove to you that this is only 249 00:17:35,150 --> 00:17:40,010 source with this Ros melodic if I do ROS version, this is melodic. 250 00:17:40,010 --> 00:17:41,660 Ros to help. 251 00:17:41,660 --> 00:17:46,160 And you can see I don't have Ros two installed on this machine so I'm not trying to pull anything here. 252 00:17:46,160 --> 00:17:48,470 This machine only has Ros one on it. 253 00:17:49,670 --> 00:17:56,720 We will need to make sure though that we have our master Uri and IP properly set in every terminal. 254 00:17:56,720 --> 00:18:01,310 So normally you would set this in your Batchelor C file so that it runs every time you open a new terminal. 255 00:18:01,310 --> 00:18:04,100 But for right now I'm just going to set this manually. 256 00:18:04,100 --> 00:18:06,980 Each time we open a new terminal, we'll only be opening these terminals. 257 00:18:06,980 --> 00:18:07,880 This should be fine. 258 00:18:08,210 --> 00:18:11,330 And now we can go ahead and run our talker node. 259 00:18:13,450 --> 00:18:14,950 So here we can see that default. 260 00:18:14,950 --> 00:18:15,190 Hello. 261 00:18:15,190 --> 00:18:16,900 World messages are pointing to the screen. 262 00:18:17,200 --> 00:18:20,140 Now if I go back to my Ubuntu 20 machine. 263 00:18:21,820 --> 00:18:26,940 I can open up another shell that only needs to have Ross two sauce on it, so I'll go ahead and do control 264 00:18:27,010 --> 00:18:27,460 TW. 265 00:18:27,880 --> 00:18:33,280 And here's my second instance, and so I will source my Ross Foxy install. 266 00:18:39,360 --> 00:18:40,740 And we don't have to worry about the warning. 267 00:18:40,740 --> 00:18:43,770 And then if now I go ahead and run a listener. 268 00:18:43,770 --> 00:18:44,280 Right. 269 00:18:44,280 --> 00:18:46,800 So there are no talker nodes running on this machine. 270 00:18:46,800 --> 00:18:49,920 That only talker node is running on the Ubuntu 18 machine. 271 00:18:49,920 --> 00:18:55,200 But because we have our bridge running here, we should be able to listen in on those messages over 272 00:18:55,200 --> 00:19:00,960 the network because we set our ROS master Uri and our ROS IP address accordingly actually. 273 00:19:02,370 --> 00:19:03,780 That's actually what I need to do here. 274 00:19:03,780 --> 00:19:10,200 So before I go ahead and run that, I will need to set our Ros master Uri and our Ros IP in this terminal 275 00:19:10,200 --> 00:19:11,490 since this is a new terminal. 276 00:19:13,030 --> 00:19:13,900 Right with that. 277 00:19:13,900 --> 00:19:15,850 Now I can go ahead and run the listener. 278 00:19:19,050 --> 00:19:24,790 And here you can see the Ross Bridge detects that message coming from the Ross two and the Ross one. 279 00:19:24,810 --> 00:19:25,710 It bridges it. 280 00:19:25,710 --> 00:19:30,750 And here we can see I heard Hello World, which is matching with what is being sent from the Ubuntu 281 00:19:30,750 --> 00:19:31,890 18 computer. 282 00:19:32,370 --> 00:19:33,030 Cool. 283 00:19:33,180 --> 00:19:37,710 And it's worth noting that this works both away, so go ahead and stop this listener note and I'll stop 284 00:19:37,710 --> 00:19:39,030 the talker node on the other machine. 285 00:19:39,040 --> 00:19:42,360 I'll go ahead and clear the screen on both of these. 286 00:19:42,480 --> 00:19:45,150 But this also works from Ross two to Ross one. 287 00:19:45,150 --> 00:19:50,550 So if you create any new nodes on your Ross two instance that you want your Ross one computer to subscribe 288 00:19:50,550 --> 00:19:51,120 to. 289 00:19:51,150 --> 00:19:52,710 It works the same way. 290 00:19:52,740 --> 00:19:56,610 Instead of running the listener node, this time I can run the talker node. 291 00:19:58,460 --> 00:20:02,210 So if we say talker, we can see we're publishing Hello World. 292 00:20:02,210 --> 00:20:06,090 And then the counter variable, that's what this version of Talker looks like for Ross, too. 293 00:20:06,110 --> 00:20:14,090 And now if I run the listener node on our Ubuntu 18 machine that is running only Ross one, the Ross 294 00:20:14,090 --> 00:20:16,970 Bridge will show up that it's bridging the communications. 295 00:20:16,970 --> 00:20:22,610 And we can see here that my Ross two publishing Hello World is being received on my Ross one machine 296 00:20:22,610 --> 00:20:25,610 and it's receiving the Hello world messages just fine on the listener node. 297 00:20:26,390 --> 00:20:26,780 Great. 298 00:20:26,780 --> 00:20:28,160 I'll go ahead and stop those. 299 00:20:28,970 --> 00:20:29,330 All right. 300 00:20:29,330 --> 00:20:34,730 With that you can see how you can implement the Ross Bridge to connect Legacy Ross One Systems to newer 301 00:20:34,730 --> 00:20:36,470 Ross two code bases.