ROS Gateway: Enhancing ROS Availability across Multiple Network Environments

Features

• Support for rosbridge v2 protocol.
• ROS topic forwarding: Forward ROS topics from internal network to other networks.
• ROS Topic Reverse Forwarding: Allows ROS topics from other networks to be forwarded to the internal network.
• Expose ROS Services: Make ROS services on the internal network available to other networks.
• Reserve ROS Services: Make ROS services exposed on other networks available on the internal network.
• Expose ROS Actions: Make ROS actions exposed on the internal network available to other networks.
• Reserve ROS Actions: Make ROS actions exposed on other networks available on the internal nNetwork.
• Supports conversion from ROS to REST API and from REST API to ROS data.
• Inspired by ros2-web-bridge

Install and Run

Run under Docker

1. Clone and make docker container

$ git clone https://github.com/lge-cloud-ai-robot/rosgw.git
$ cd rosgw
$ build_gw.sh 
  or
$ docker build --rm -t ros2gw ./src

2. Run the gateway container

$ run_gw_center.sh
  or 
$ docker run --name ros2gw_c -u root --rm -d -p 9001:9000 ros2gw

3. Check the gatway working

• Open http://localhost:9001/docs with a web browser

4. Run the gateway with example config file

$ run_gw_cfg.sh
  or
$ docker run --name ros2gw_1 -u root --rm -it -v ${PWD}/example/cfg:/opt/gateway/cfg ros2gw file:=/opt/gateway/cfg/example_cfg.json

5. Appendix : example config file ./example/cfg/example_cfg.json

[
    {
        "title":"jackal1",
        "active": true,
        "address": "ws://172.28.165.227:9001",   <--target gateway service address and port (websocket)
        "publish": [     
            {"name":"/kitti/camera_color_left/image_raw",    <--local topics to forward to other gateway
              "messageType":"sensor_msgs/msg/Image",
              "compression":"cbor-raw"
            }
        ],
        "subscribe": [
            {"name":"/cmd_vel", "messageType":"geometry_msgs/msg/Twist"}  <-- remote topics to receive from other gateway
        ]
    }
]