I assume that you have noetic & foxy & ros1_bridge on your PC
After installing ros1_bridge and following some tutorials to get familiar with it. edit the static_bridge.cpp which is in (ros1_bridge_ws/src/ros1_bridge/src):
here we are allowing only the /position_trajectory_controller/joint_trajectory topic to be bridged between noetic and foxy
rebuild the ros1_bridge and then source it
On your amber b1 follow the normal procedure ( ros2_start.sh then b1.sh) On your PC:
- roslaunch amber_moveit_config demo.launch
- ros2 run ros1_bridge static_bridge
- rosrun amber_linking_node amber_link.py
Plan your move with moveit and press excute it should be excuted on your robot.:) If you have questions reach me on Instagram Shannak_M