情況說明：目標是實現ros2容器和ros1主機的通信，可以起一個ros1容器作為橋梁（若是在一個主機同時包含ros1&ros2，配置更加方便）.

1.起一個 noetic 的容器

docker run -it --network host  --name my_bridge ros:noetic-ros-core

2.進入 https://github.com/ros2/ros2/releases/tag/release-foxy-20230620，把ros2 的預編譯版本拷貝到noeltic容器里 （注意版本，lsb_release -a 查看ubuntu版本，下對應的ros2預購建二進制文件）.

docker cp /home/firefly/ros-linux my_bridge:/

(筆者這里是先下載到ubuntu主機里，后拷貝到容器里面)

3.進入容器，在~/.bashrc 或 bash 或 ~/.zshrc或zsh中配置環境（一般在~/.bashrc里面配）：

export ROS1_INSTALL_PATH=/opt/ros/noetic
export ROS2_INSTALL_PATH=/ros-linux
source ~/.bashrc

4.在noetic容器里裝 spdlog

apt install libspdlog-dev

5.在noetic容器git clone ros2/ros1_bridge源碼：

git clone https://github.com/ros2/ros1_bridge.git

6.按照GitHub官方ros2/ros1_bridge教程依次啟動四個終端（使用docker attach my_bridge&docker exec -it my_bridge /bin/bash）

（1）shell A：source ${ROS1_INSTALL_PATH}/setup.bashroscore
（2）shell B:source ${ROS1_INSTALL_PATH}/setup.bashsource ${ROS2_INSTALL_PATH}/setup.bashexport ROS_MASTER_URI=http://localhost:11311ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
（3）shell C:source ${ROS1_INSTALL_PATH}/setup.bashsudo apt-get install ros-noetic-ros-tutorialsrosrun rospy_tutorials talker
（4）shell D:source ${ROS2_INSTALL_PATH}/setup.bashros2 run demo_nodes_cpp listener