Running this Docker container will spawn a ros1_bridge node to generate mappings for messages between ROS1 and ROS2. You do not need to do anything inside the shell of the Docker. Anytime the prerequisites are met for a topic, the messages will be seen between ROS1 and ROS2.

Prerequisites:

• A topic is being published on side A. The message type of this topic should be known inside the Docker container (list below).
• At least 1 subscriber listening for the topic on side B. You will most likely have to make a dumby script for testing.

Message types:

• std_msgs (default with ROS)
• nav_msgs
• sensor_msgs
• tf2_msgs

To add more message types, make sure the message type is installed in the Docker image. For custom messages, see the README.md in https://github.com/ros2/ros1_bridge.