ponomarevda/ros2-cyphal-bridge repository overview

ROS 2 ↔ Cyphal bridge packaged as a container. Run with a YAML config to connect ROS 2 topics to Cyphal networks. Includes CLI entrypoint and optional vcan support for local testing.

⁠General usage:

docker run --rm --net=host --ipc=host -v $(pwd)/tools/docker/example_bridge.yaml:/tmp/bridge.yaml:ro ponomarevda/ros2-cyphal-bridge:v0.3.0 --verbose

Here $(pwd)/tools/docker/example_bridge.yaml is a path to your local config; --verbose is an optional argument that shows all ongoing messages

⁠Running examples and tests

Interactive shell:

docker run --rm -it --net=host --ipc=host --pid=host ponomarevda/ros2-cyphal-bridge:v0.3.0

Run the bridge with the example config:

ros2-cyphal-bridge --config ./example_bridge.yaml --verbose

Run the Cyphal example node (in a separate terminal):

./example_cyphal_talker.py

Run the ROS2 example node (in a separate terminal):

./example_ros2_talker.py

Run tests:

pytest -q /home/user/ros2_cyphal_bridge/tests/

More info: https://pypi.org/project/ros2-cyphal-bridge/⁠