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rmw_wasm

A middleware implementation for ROS 2 (humble) which can be cross-compiled to WebAssembly to run on the browser. The middleware is divided into three main packages:

  • rmw_wasm_cpp $\rightarrow$ this package acts as the adapter between ROS 2 and the middleware implementation. One of its main tasks is to convert ROS messages to YAML strings; this is accomplished with the help of the dynamic message introspection (dynmsg) packaged developed by Open Robotics.

  • wasm_cpp $\rightarrow$ the role of this package is to implement the middleware in accordance to the DDS specification (work in progress); it also functions as the bridge to JavaScript modules.

  • wasm_js $\rightarrow$ this package manages the participating entities and distributes the ROS message data accordingly. Given that processes on a browser run on a single main thread, this package uses web workers to run multiple ROS nodes simultaneously.

The figure below represents an overview of the middleware packages:

Structure of middleware packages


Limitations

rmw_wasm is currently under development. Not all features are supported (yet).

Feature Support
Publishers ✔️
Subscribers ✔️
Service servers ✔️
Service clients ✔️
Actions
Parameters
QoS

Contributing

If you would like to contribute, thank you!! We have some guidelines to help you along. If you have any questions, do not hesitate to ask 😁.