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

Libraries

action_client
actionlib
core
param
request
ros
roslib
service
topic