I started the ros1 bridge and it gave me the output:
Created 2 to 1 bridge for service /cv_camera/set_camera_info
Created 2 to 1 bridge for service /gazebo/clear_body_wrenches
Created 2 to 1 bridge for service /gazebo/clear_joint_forces
Created 2 to 1 bridge for service /gazebo/delete_light
Created 2 to 1 bridge for service /gazebo/delete_model
Created 2 to 1 bridge for service /gazebo/get_joint_properties
Created 2 to 1 bridge for service /gazebo/get_light_properties
Created 2 to 1 bridge for service /gazebo/get_link_properties
Created 2 to 1 bridge for service /gazebo/get_link_state
Created 2 to 1 bridge for service /gazebo/get_model_properties
Created 2 to 1 bridge for service /gazebo/get_model_state
Created 2 to 1 bridge for service /gazebo/get_physics_properties
Created 2 to 1 bridge for service /gazebo/get_world_properties
Created 2 to 1 bridge for service /gazebo/pause_physics
Created 2 to 1 bridge for service /gazebo/reset_simulation
Created 2 to 1 bridge for service /gazebo/reset_world
Created 2 to 1 bridge for service /gazebo/set_joint_properties
Created 2 to 1 bridge for service /gazebo/set_link_properties
Created 2 to 1 bridge for service /gazebo/set_link_state
Created 2 to 1 bridge for service /gazebo/set_model_configuration
Created 2 to 1 bridge for service /gazebo/set_model_state
Created 2 to 1 bridge for service /gazebo/set_physics_properties
Created 2 to 1 bridge for service /gazebo/spawn_sdf_model
Created 2 to 1 bridge for service /gazebo/spawn_urdf_model
Created 2 to 1 bridge for service /gazebo/unpause_physics
Created 2 to 1 bridge for service /imu_service
Created 2 to 1 bridge for service /overlord/camera/set_camera_info
created 2to1 bridge for topic '/rosout' with ROS 2 type 'rcl_interfaces/msg/Log' and ROS 1 type 'rosgraph_msgs/Log'
Then I sourced ros2 in another shell using source /opt/ros/foxy/setup.bash, then when I did ros2 topic list all I got was:
Also when I was starting gazebo there was a lot of warnings and errors:
... logging to /home/user/.ros/log/a901bf0e-0ac6-11ec-9e52-0242ac1c0007/roslaunch-1_xterm-14306.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://1_xterm:39297/
SUMMARY
========
PARAMETERS
* /gazebo/enable_ros_network: True
* /robot_description: <?xml version="1....
* /robot_state_publisher_turtlebot3/publish_frequency: 5.0
* /rosdistro: noetic
* /rosversion: 1.15.9
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
robot_state_publisher_turtlebot3 (robot_state_publisher/robot_state_publisher)
spawn_urdf (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [14335]
ROS_MASTER_URI=http://1_xterm:11311
setting /run_id to a901bf0e-0ac6-11ec-9e52-0242ac1c0007
process[rosout-1]: started with pid [14345]
started core service [/rosout]
process[gazebo-2]: started with pid [14352]
process[gazebo_gui-3]: started with pid [14353]
process[spawn_urdf-4]: started with pid [14356]
process[robot_state_publisher_turtlebot3-5]: started with pid [14360]
++ ls /usr/bin/gzclient-11.1.0
+ gzclient_path=/usr/bin/gzclient-11.1.0
+ DISPLAY=:2
+ /usr/bin/gzclient-11.1.0 --verbose -g /opt/ros/noetic/lib/libgazebo_ros_paths_plugin.so -g /opt/ros/noetic/lib/libgazebo_ros_api_plugin.so __name:=gazebo_gui __log:=/home/user/.ros/log/a901bf0e-0ac6-11ec-9e52-0242ac1c0007/gazebo_gui-3.log
Gazebo multi-robot simulator, version 11.1.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Gazebo multi-robot simulator, version 11.1.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Wrn] [GuiIface.cc:199] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin
[ INFO] [1630460892.913166126]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1630460892.918583197]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://172.28.0.7:11345
[Msg] Publicized address: 172.28.0.7
[ INFO] [1630460893.401205646]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1630460893.404152206]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://172.28.0.7:11345
[Msg] Publicized address: 172.28.0.7
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: ring_road_v2. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: Pedestrian. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: Traffic Light. Please specify theSDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
[Wrn] [GuiIface.cc:119] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-user'
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: triangular_prism_direccion_obligada. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: triangular_prism. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: triangular_prism_direccion_obligada. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: triangular_prism_direccion_obligada. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: triangular_prism. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: triangular_prism_pedestrian. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: triangular_prism_pedestrian. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: OverLoard Camera. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
[ INFO] [1630460894.350528057]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1630460894.441383780]: Physics dynamic reconfigure ready.
[Err] [InsertModelWidget.cc:417] Missing model.config for model "/home/user/.gazebo/models/RubberDucky"
[Err] [InsertModelWidget.cc:417] Missing model.config for model "/home/user/.gazebo/models/lms1xx"
[Err] [InsertModelWidget.cc:417] Missing model.config for model "/home/user/.gazebo/models/media"
[Err] [InsertModelWidget.cc:417] Missing model.config for model "/home/user/.gazebo/models/meshes"
[Err] [InsertModelWidget.cc:417] Missing model.config for model "/home/user/.gazebo/models/turtlebot3_autorace"
[Err] [InsertModelWidget.cc:417] Missing model.config for model "/home/user/.gazebo/models/turtlebot3_autorace_2020"
[Err] [InsertModelWidget.cc:417] Missing model.config for model "/home/user/.gazebo/models/turtlebot3_description"
[Err] [InsertModelWidget.cc:417] Missing model.config for model "/home/user/simulation_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace"
[Err] [InsertModelWidget.cc:417] Missing model.config for model "/home/user/simulation_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020"
[ INFO] [1630460895.474489751]: Camera Plugin: The 'robotNamespace' param did not exit
[ INFO] [1630460895.479326265]: Camera Plugin (ns = ) <tf_prefix_>, set to ""
[ INFO] [1630460896.878429367, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1630460896.890258606, 0.001000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1630460896.929465254, 0.001000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1630460896.931168680, 0.001000000]: Starting Laser Plugin (ns = /)
[ INFO] [1630460896.944525527, 0.001000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1630460897.029155131, 0.001000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1630460897.030704256, 0.001000000]: DiffDrive(ns = //): <rosDebugLevel> = na
[ INFO] [1630460897.032700794, 0.001000000]: DiffDrive(ns = //): <tf_prefix> =
[ INFO] [1630460897.034918428, 0.001000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1630460897.036657948, 0.001000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1630460897.041361631, 0.001000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1630460897.042173622, 0.001000000]: DiffDrive(ns = //): Advertise odom on odom
[spawn_urdf-4] process has finished cleanly
log file: /home/user/.ros/log/a901bf0e-0ac6-11ec-9e52-0242ac1c0007/spawn_urdf-4*.log
[Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
Don’t worry about the gazebo errors/warning, they are expected and don’t affect the simulation.
As for the bridge comments, that’s the expected behavior. The topic won’t be shown in ROS2 until a specific connection is made to the topic (ie., you create a ROS2 Subscriber that subscribes to the ROS1 topic). This is done for optimizing resources. If you want to see all the topics always, you need to run the bridge like this:
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics