rosbridge overview

rosbridge

Reference

• http://wiki.ros.org/rosbridge_suite
• https://github.com/RobotWebTools/rosbridge_suite

overview

rosbridge is to connect ROS world to other world such as websocket, so that application in Non-ROS world can communicate ROS world.

message protocol

ROSBRIDGE_PROTOCOL

rosbridge is constructed with major two parts, one is protocol and the other is implementation to convert.

rosbridge uses json format protocol to interact with,

{
  "op": "subscribe",
  "topic": "/cmd_vel",
  "type": "geometry_msgs/Twist"
}

Examples

unfortunately mainline does not have good example but there is one as following.

Note

• rosbridge is really simple design and does not do much things, but good enough to bridge ROS world to the other side.