roslib

A library for communicating to a ROS node over websockets with rosbridge, heavily influenced by roslibjs and follows the same structure.

THIS IS AN INCOMPLETE LIBRARY

List of feature implementation statuses (essentially a list of features required to reach roslibjs's level)

• Core:
  • ROS connection object
  • Topic object (subscribe, unsubscribe, publish, advertise, unadvertise)
  • Service object (call, advertise, unadvertise)
  • Request object (provides typing and naming to any potential ROS request)
  • Param object (get, set, delete)
• Actionlib:
  • ActionClient
  • ActionListener
  • Goal
  • SimpleActionServer
• Support TCP connections
• TFClient (listen to TFs from tf2_web_republisher)
• URDF (Box, Color, Cylinder, Joint, Material, Mesh, Model, Sphere, Types, Visual)

Testing

In order to successfully run the tests a ros node must be accessible with packages ros-{distro}-rosbridge-server and ros-{distro}-rospy-tutorials installed. And it must be running these three processes:

1. roscore
2. rlaunch rosbridge_server rosbridge_websocket.launch
3. rosrun rospy_tutorials add_two_ints_server