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Client advertisements and message publishing #66

Merged
merged 15 commits into from
Nov 25, 2022
Merged

Client advertisements and message publishing #66

merged 15 commits into from
Nov 25, 2022

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jhurliman
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Public-Facing Changes

  • WebSocket clients can advertise topics and publish messages to their advertised topics

Description
This supports the clientPublish capability, including advertising/unadvertising/publishing for ROS 1 and ROS 2.

@jhurliman jhurliman marked this pull request as draft November 22, 2022 23:06
jhurliman and others added 14 commits November 24, 2022 18:27
@jhurliman @achim-k
Client advertise/unadvertise/message support
c4851a3
@jhurliman @achim-k
Add client advertising/publishing to ROS 2 node
5cca17a
@jhurliman @achim-k
Announce the "clientPublish" capability
04bcbc5
@jhurliman @achim-k
Update foxglove_bridge_base/include/foxglove_bridge/websocket_server.hpp
bc1378e 
Co-authored-by: Hans-Joachim Krauch <achim-k@users.noreply.github.com>
@jhurliman @achim-k
Update foxglove_bridge_base/include/foxglove_bridge/websocket_server.hpp
9dbb6b3 
Co-authored-by: Hans-Joachim Krauch <achim-k@users.noreply.github.com>
@jhurliman @achim-k
#include <unordered_set>
e723375
@jhurliman @achim-k
Update foxglove_bridge_base/include/foxglove_bridge/websocket_server.hpp
ee522f1 
Co-authored-by: Hans-Joachim Krauch <achim-k@users.noreply.github.com>
@jhurliman @achim-k
lint
538af3d
@achim-k
Allow client channel Ids to overlap
5d7fe34
@achim-k
Add helper functions to ClientMessage
bfaed21
@achim-k
Add ros1 client publishing support
263e1ef
@achim-k
ros1 adaptations
4e67da2
@achim-k
ros2 adaptations
56bbb95
@achim-k
Make ros1/ros2 client publishing code more similar
4c0d7ec
@achim-k
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achim-k commented Nov 24, 2022 •
edited
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There is still something wrong with ros2 publishing.

I tested it with foxglove/ws-protocol#284 and ros2 topic echo /chatter repeatedly gives the following output:

1669316300.717228 [0]     recvUC: malformed packet received from vendor 1.16 state parse:data <52545053 02010110 011022a7 0df507c2 49c53cbc 09010800 ccbe7f63 cadb8bb7 @0x20 15051400 00001000 00000000 032c0000 00000000 13000000 07011c00 00000000> (note: maybe partially bswap'd) {{15,5,20},0,16,0,2c03,19}

Edit: This got fixed by explicitly setting the buffer length for the outgoing serialized message (4ff350d)

@achim-k achim-k changed the title [WIP] Client advertisements and message publishing Client advertisements and message publishing Nov 25, 2022
@achim-k achim-k marked this pull request as ready for review November 25, 2022 20:57
@jhurliman jhurliman merged commit 9be5c14 into main Nov 25, 2022
@jhurliman jhurliman deleted the jhurliman/publishing branch November 25, 2022 21:19
@achim-k achim-k mentioned this pull request Nov 30, 2022
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