rclcpp_websocket - ROS2 websocket Library for C++

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Dependensies

• ROS2 (Eloquent Elusor)
• Boost
• Websocket++ (0.82) - C++ websocket client/server library

Install

Install websocketpp

git clone https://github.com/zaphoyd/websocketpp
cd websocketpp
git checkout 0.82
mkdir build && cd build
cmake ..
make
sudo make install

Install boost

sudo apt install libboost-dev

Build from source

cd ros2_ws/src
git clone https://github.com/gusugusu1018/rclcpp_websocket
cd ..
colcon build --package-select rclcpp_websocket
source install/setup.bash // or setup.zsh

Getting Started

run node

ros2 run rclcpp_websocket rclcpp_websocket

publish topic

ros2 topic pub /chatter std_msgs/String "data: Hello"

open browser

xdg-open viewer/index.html