Kumo (雲)

Kumo (雲, cloud) is a ROS 2 package that provides a bridge server that enables communications between WebSocket applications and ROS 2 nodes.

Features

• Serve ROS 2 bridge on a specified port and host.
• Support Node, Publisher, Subscription, Client, and Service creation.
• Support Topics and Services communication.

Requirement

• ROS 2 Foxy Fitzroy.
• Yakusha (for JSON serialization).
• websockets.

Installation

Binary Packages

• See releases for the latest version of this package.
• Alternatively, this package also available on ICHIRO ITS Repository as ros-foxy-kumo package.

Build From Source

• Install colcon as in this guide.
• Build the project and source the result.

  $ colcon build
  $ source install/setup.bash

  See this guide for more information on how to setup a workspace in ROS 2.

Usage

Run the bridge server using bridge program (use -h to list all available parameters).

$ ros2 run kumo bridge

Supported Client Libraries

• Kumo Client (JavaScript).

License

This project is maintained by ICHIRO ITS and licensed under the MIT License.