Here is working example I created for myself some time ago. https://drive.google.com/open?id=0B68BPOrWQeULcmVXNDdTdTRYcFE Check README.md file. It has detailed explanation how to use it. --- [Visit Topic](https://discourse.ros.org/t/ros1-bridge-build-issues/2642/4) or reply to this email to respond.