Crate roslibrust_rosbridge 

A implementation of roslibrust’s generic traits for rosbridge_suite communication.

rosbridge_server provides a useful websocket interface to ROS.

This server operates over a single port making it easier to use in constrained networking environments and support TLS.

Additionally, rosbridge_server exists for both ROS1 and ROS2 with an unchanged API meaning code targeting rosbridge can be used with both ROS1 and ROS2.

This backend is fundamentally less efficient than native ROS1 communication, but its added flexibility can be very useful.

Basic Example:

// Normally accessed as roslibrust::{Result, TopicProvider, Publish}
use roslibrust_common::{Result, TopicProvider, Publish};
// Normally you'd use generated types from roslibrust::codegen
use roslibrust_test::ros1::*;
use roslibrust_rosbridge::ClientHandle;

async fn my_behavior(ros: impl TopicProvider) -> Result<()> {
    let publisher = ros.advertise::<std_msgs::String>("my_topic").await?;
    publisher.publish(&std_msgs::String { data: "Hello, world!".to_string() }).await?;
    Ok(())
}

#[tokio::main]
async fn main() -> Result<()> {
    // Create a rosbridge handle we can use
    let ros = ClientHandle::new("ws://localhost:9090").await?;
    // Use it like ros:
    my_behavior(ros).await?;
    Ok(())
}

Structs

ClientHandle

The ClientHandle is the fundamental object through which users of this library are expected to interact with it.

ClientHandleOptions

Builder options for creating a client

Publisher

A handle given to the caller when they advertise a topic

ServiceClient

Rosbridge doesn’t have the same concept of service client that ros1 native has This type is used to replicate the api of ros1::ServiceClient, but really it just a thin wrapper around call_service() and has no performance benefits

ServiceHandle

The handle returned to the caller of advertise_service this struct represents the lifetime of the service, and dropping this struct automatically unadvertises and removes the service. No interaction with this struct is expected beyond managing its lifetime.

Subscriber

Represents a single instance of listening to a topic, and provides the ability to extract messages