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I have used this to control a Motoman robot running their unmodified ROS1 driver in Noetic, with a ROS2 application in Humble. Yes, I know about their ros2 driver. FollowJointTrajectory is supported.

I used a version of Noetic built with Conda for Python 3.10, rather than building all of Noetic from scratch. Humble was installed in the normal way. I am mixing Conda/normal packages, but this works well enough for my use case.

Some additional work was needed because they changed the definitions of some "standard" messages in Humble. I intended to do all of the mapping via yaml files, allowing some fields to remain unmapped. This wasn't possible due to the definitions of constants in the Log messages being changed. rqt_console would break if invalid severity numbers were present.

This was done as quick as possible as a proof of concept. I don't see it ever getting merged to the official repo, considering that the action support PR has been open for over 4 years.

Running with Noetic/Humble in Ubuntu 22.04

ros1_ws

1. Install miniforge
2. Add the ros-noetic-py10 channel. Note: I have no idea who made this specific channel.
3. Install enough ros1 stuff so that you're able to build the driver for your robot.

ros2_ws

1. Add this bridge_mapping repo to your ros2 workspace.
2. Add the ros2_msgs_only branch of the industrial_core package

bridge_ws

1. Add the action_bridge_humble fork of the ros1_bridge to your bridge_ws
2. Activate your mamba ros1 environment
3. Source your ros1_ws
4. Source the ros2_ws
5. Build