rbcpp

rosbridgeclient + cpp = rbcpp

rosbridge provides a JSON interface to ROS, allowing any client to send JSON to publish or subscribe to ROS topics, call ROS services, and more.

It allows you to work with ROS on not officially supported hardware or operating systems.

DEPRECATED, USE AT YOUR OWN RISK. This will eventually be rewritten with https://github.com/target/libdart

Important Note: as of now, tornado >= 4.5.3 breaks the websocket connection with rosbridge. See issue. If your connection is dropped at the fist send attempt, check your tornado version with pip show tornado.

Build, Install

Minimum Requirements: clang-6.0, g++-6 or xcode9.1

To use librbc, you need to install cpprestsdk. If you want to run the tests, as well, you need to additionally install Catch2

Set compiler, e.g g++-8, for entire session

export CXX=/usr/bin/g++-8

or do so in the cmake command: cmake -DCMAKE_CXX_COMPILER=/usr/bin/g++-7 .., see below

Build only the client api

mkdir build && cd build
cmake -DCMAKE_CXX_COMPILER=/path/to/compiler ..
make

Install with

sudo make install

Build all tests, as well

mkdir build && cd build
cmake -DCMAKE_CXX_COMPILER=/path/to/compiler -DCOMPILE_TEST=ON ..
make

Note: On Mac, you may need to adjust OPENSSL_ROOT_DIR and OPENSSL_INCLUDE_DIR, if your openssl installation is not located in /usr/local/opt/openssl

Status: very early development

ROS Services

Support for basic ROS services

Implement your own serializer (class to json) and deserializer (json to class) for more complex use cases

Publisher, Subscriber

All messages that are checked below can be used already. Examples can be found here

Type	Messages	Subscriber Status
geometry_msgs	orientation
	orientation stamped
	vector3
	vector3 stamped
	pose
	pose 2d
	pose array
	pose stamped
	pose with covariance
	pose with covariance stamped
	point
	point32
	point stamped
	accel
	accel stamped
	accel with covariance
	accel with covariance stamped
	inertia
	inertia stamped
	wrench
	wrench stamped
	polygon
	polygon stamped
	transform
	transform stamped
	twist
	twist stamped
	twist with covariance
	twist with covariance stamped
nav_msgs	GridCells
	Odometry
	Path
	OccupancyGrid
	MapMetaData
sensor_msgs	BatteryState
	CameraInfo
	ChannelFloat32
	CompressedImage
	FluidPressure
	Illuminance
	Image	(rosbrigde error?)
	Imu
	JointState
	Joy
	JoyFeedback
	JoyFeedbackArray
	LaserEcho
	LaserScan
	MagneticField
	MultiDOFJointState
	MultiEchoLaserScan
	NavSatFix
	NavSatStatus
	PointCloud
	PointCloud2
	PointField
	Range
	RegionOfInterest
	RelativeHumidity
	Temperature
	TimeReference
	SetCameraInfo
std_msgs	String
	Header
	Int8
	Int8MultiArray
	Int16
	Int16MultiArray
	Int32
	Int32MultiArray
	Int64
	Int64MultiArray
	UInt8
	UInt16
	UInt16MultiArray
	UInt32
	UInt32MultiArray
	UInt64
	UInt64MultiArray
	MultiArrayDimension
	MultiArrayLayout
	Time
	Byte
	ByteMultiArray
	Char
	ColorRGBA
	Duration
	Empty
	Bool
	Float32
	Float32MultiArray
	Float64
	Float64MultiArray
	UInt8MultiArray

Usage

TODO

cmake install
make web value json call safer
test all wrench stamped constructors
overload operators for Int/Float std_msgs
check incoming received_message for validity
Instructions for custom service

yehouhou/rbcpp