This Dockerfile sets up an environment that integrates both ROS 1 Noetic and ROS 2 Foxy, facilitating communication between the two using the ros1_bridge package.
This Docker environment was created by heirenlop(Jialu Li).
(1) Terminal 1: run roscore
source /opt/ros/noetic/setup.bash
roscore(2) Terminal 2: run ros1_bridge
source /opt/ros/noetic/setup.bash
source /opt/ros/foxy/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics(3) Terminal 3: play ros1 bag
source /opt/ros/noetic/setup.bash
rosbag play <ros1_bag_file>(4) Terminal 4: record ros2 bag
source /opt/ros/foxy/setup.bash
ros2 bag record -a -o <your_bag_path_to_save>(5) reference link:https://github.com/ros2/ros1_bridge