Getting Ros topics through bridge

[abhilashbalachandran]

Thank you. I am now able to run apollo and cyber_monitor alongside apollo-ros bridge.
However, I am not seeing any updates of the topics with rostopic echo on bridge side while cyber_monitor is publishing messages ( with LGSLV). What should I do to see these topics on ROS side? Here is the screen shot

/home/jpm/Pictures/RA_Screenshot from 2019-09-18 17-43-45.png

Originally posted by @Prj1508 in #6 (comment)

[abhilashbalachandran]

referencing the following comments with images:
#6 (comment)
#6 (comment)

[abhilashbalachandran]

So to get the bridge code working, you need to launch the binary which performs the bridging
Inside the apollo_ros_bridge container:

1. Build the bridge code

bazel build cyber_ros_bridge:all

2. Run the binary

roscore && ./bazel-bin/cyber_ros_bridge/cyber_ros_bridge

3. Visualize the topics converted to ROS

rostopic list

echo then to see values inside

Note:: Make sure the topic names are set to the correct ones inside the default.yaml file inside cyber_ros_bridge/yaml_defs folder

Currently, only the following conversions have been provided:

1. apollo::drivers::PointCloud to sensor_msgs::PointCloud2
2. apollo::planning::ADCTrajectory to nav_msgs::Path
3. apollo::localization::LocalizationEstimate to nav_msgs::Odom
4. apollo::drivers::gnss::Imu to sensor_msgs::Imu
5. sensor_msgs::PointCloud2 to apollo::drivers::PointCloud

You can add bridging for any of your own topics of choice. The following documentations will be useful for that:
https://github.com/AuroAi/apollo_ros_bridge/blob/master/docs/How_to_add_a_new_message_conversion_for_the_bridge.md
https://github.com/AuroAi/apollo_ros_bridge/blob/master/docs/adding_custom_bridging.md

[Prj1508]

Hi, I tried these steps. But I am still not able to see all the rostopics. I only see /rosout and /rosagg and echo is not showing any topics.
I am running ROS kinetic, Apollo 3.5 and LGSLV sim

[abhilashbalachandran]

@Prj1508 that seems odd. It does work at my end. Can you ensure the topic names in the default.yaml file is the same that Apollo lgsvl is publishing. We did try Apollo 3.5 LGSVL at our end, but it was a previous version. Can you check if values from lgsvl can be visualized inside Apollo_ros_bridge container using cyber monitor. To do this:
Inside the Apollo_ros_bridge docker,

1. run

bazel build cyber/tools/cyber_monitor:all

launch cyber monitor

./bazel-bin/cyber/tools/cyber_monitor/cyber_monitor

[Prj1508]

@abhilashbalachandran
The topics in fact can be visualised inside apollo_ros_bridge container.
I just checked yaml file and the topics being published by LGSLV. I have /odom, /point_cloud and /imu_ros messages whose input messages are matching with LGSLV, but I dont see any rostopic published using echo. Here is the snapshot. Please let me know

[abhilashbalachandran]

@Prj1508 We need to make sure that cyber topics also go through. Can you follow the instructions in #7 (comment)