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rosbridge_suite

Server Implementations of the rosbridge v2 Protocol

rosbridge provides a JSON interface to ROS, allowing any client to send JSON to publish or subscribe to ROS topics, call ROS services, and more. rosbridge supports a variety of transport layers, including WebSockets and TCP. For information on the protocol itself, see the rosbridge protocol specification.

For full documentation, see the ROS wiki.

This project is derived from the origin project from Robot Web Tools/rosbridge_suite as part of the Robot Web Tools effort. To make a difference, this project mainly maintain the TCP part.

Packages

  • rosbridge_suite is a ROS meta-package including all the rosbridge packages.

  • rosbridge_library contains the Python API that receives JSON-formatted strings as input and controls ROS publishers/subscribers/service calls according to the content of the JSON strings.

  • rosbridge_server contains a WebSocket server, a TCP server and UDP server implementation that exposes the rosbridge_library.

  • rosapi provides service calls for getting meta-information related to ROS like topic lists as well as interacting with the Parameter Server.

Clients

A rosbridge client is a program that communicates with rosbridge using its JSON API. rosbridge clients include:

  • roslibjs - A JavaScript API, which communicates with rosbridge over WebSockets.

  • jrosbridge - A Java API, which communicates with rosbridge over WebSockets.

  • roslibpy - A Python API, which communicates with rosbridge over WebSockets.

  • ROS-Integration - An UnrealEngine 5 plugin, which communicates with rosbridge over TCP server.

License

ros2bridge is inherited from rosbridge_suit so it will also released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.

Troubleshooting

See the TROUBLESHOOTING doc for common problems and solutions.

Guidance

add this package suite to your ROS2 projects workspace's src document

colcon build

if On Windows

call install\setup.bat

if on Ubuntu

source install\setup.sh

to launch the isolate package nodes

ros2 launch rosbridge_server rosbridge_tcp_launch.xml