IOP JSON Connector

Summary

Connects to JAUS/IOP Node Manager and translates IOP Messages to/from JSON which can send/receive via Web Socket.

Install

Clone this repository to your preferred destination.

git clone https://github.com//FFI-no/iop-json-connector

As ROS package inside ROS environment

If you use it with ROS put this repository into ROS workspace and call

colcon build --packages-select fkie_iop_json_connector--symlink-install

or for ROS1

roscd && catkin build

As standalone package

Use setup.py to install the code:

cd iop-json-connector/fkie_iop_json_connector
python3 setup.py install --user --record installed_files.txt

The executable iop-json-connector.py is now located in ~/.local/bin/.

Note: to remove installed files call

xargs rm -rf < installed_files.txt

Run

Run jsidl2json.py to generate the JSON schemes.

In ROS environment you can do it by

ros2 run fkie_iop_json_connector ros-iop-json-connector.py

or (ROS1)

rosrun fkie_iop_json_connector ros-iop-json-connector.py

otherwise

python3 ~/.local/bin/iop-json-connector.py

Test

You need a running

• Node Manager from JausToolsSet or ROS/IOP Bridge.
• IOP robot e.g. from ROS/IOP Bridge example

Start the json connector, see Run section.

Open test/websocket.html in your browser.

You can use connect and send buttons to test the web socket of the running json connector.