roslib 0.0.3 roslib: ^0.0.3 copied to clipboard
Interface with a ROS node over websockets with rosbridge, heavily influenced by roslibjs and follows the same structure.
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:
roscore
rlaunch rosbridge_server rosbridge_websocket.launch
rosrun rospy_tutorials add_two_ints_server