rowma ROS

About

This package is responsible for WebSocket connection and is a WebSocket client to operate a ros-based robot.

rowma repository

Check the rowma main repository for more information to utilize rowma.

Requirements

Python2.7
ROS Kinetic

Melodic is also tested. Need more tests.

Usage

Just run rosrun rowma_ros rowma and you will get UUID when it successfully connects to the rowma server. You can specify your own rowma server though, the default rowma server is provided at 18.176.1.219.

cd ~/catkin_ws/src
git clone https://github.com/asmsuechan/rowma_ros
cd rowma_ros
pip install -r requirements.txt
catkin_make
rosrun rowma_ros rowma

default server

The default rowma server is provided at 18.176.1.219 as explained above. It is a public server without any auth, therefore you should be careful to connect your robot because anyone can run your robot easily. I recommend you to use the default server for experiments.

your own rowma server

You can run your own rowma server (its name is rowma_connection_server) to avoid connecting your robot to the public server.

git clone https://github.com/asmsuechan/rowma_connection_manager
cd rowma_connection_manager
npm i
npm run build
sudo npm start

And specify the server address by ROWMA_SERVER_URL on starting.

ROWMA_SERVER_URL=http://localhost rosrun rowma_ros rowma

For more information about rowma_connection_manager, check the repository.

Testing

This ros package is tested on docker images because some functions in lib.utils depend on ROS related directory especially ROS_PACKAGE_PATH. (Docker >= 18.09.6)

docker build -t rowma_ros_melodic_test -f Dockerfile.test.kinetic .
docker build -t rowma_ros_melodic_test -f Dockerfile.test.melodic .
docker run --rm -v `pwd`:/root/my_workspace/src/rowma_ros -it rowma_ros_kinetic_test
docker run --rm -v `pwd`:/root/my_workspace/src/rowma_ros -it rowma_ros_melodic_test

Development

# using Docker
docker build -t rowma_ros -f Dockerfile .
docker run --rm --network="host" -e ROWMA_SERVER_URL=http://127.0.0.1 -it rowma_ros

TODO

versioning
more tests