This repository contains software configured to interface ROS 1 point cloud data publishers with ROS 2 point cloud data subscribers. The code in this repository is intended to replace the use of ros1_bridge. ros1_bridge is useful for generally interfacing ROS 1 and ROS 2 software, but is associated with issues when used within Docker. This software uses the MQTT protocol to transfer data between ROS 1 and ROS 2 applications.
Clone the repository to your local machine
git clone git@github.com:packbionics/pcd-bridge.gitRun the docker-compose.yml file at the root of the repository
docker compose up -dNote: If you do not wish to run the container in detached mode, run the above command without -d