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)

• [X] Core:
  • [x] ROS connection object
  • [x] Topic object (subscribe, unsubscribe, publish, advertise, unadvertise)
  • [x] Service object (call, advertise, unadvertise)
  • [x] Request object (provides typing and naming to any potential ROS request)
  • [x] 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