@tier4/roslibjs-foxglove

An implementation of roslibjs's interfaces by using Foxglove WebSocket Protocol.

roslibjs-foxglove is a client library that communicates with ROS 1 / 2 using Foxglove bridge. Unlike the rosbridge used in the existing roslibjs, Foxglove bridge provides extremely high performance, low latency, and low packet loss rate.

Getting Started

ROS side

Install and launch Foxglove bridge.

sudo apt install ros-$ROS_DISTRO-foxglove-bridge
roslaunch --screen foxglove_bridge foxglove_bridge.launch port:=8765 # for ROS 1
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765 # for ROS 2

JS / TS side

npm install https://github.com/tier4/roslibjs-foxglove/releases/download/v0.0.4/tier4-roslibjs-foxglove-0.0.4.tgz

Supported features

ROSLIB.Ros

	Parameter	Note
✔️	url
	groovyCompatibility
	transportLibrary	Foxglove bridge only supports WebSocket.
	transportOptions

	Method	Note
	authenticate
	callOnConnection
✔️	close
✔️	connect
	decodeTypeDefs
	getActionServers
	getMessageDetails
	getNodeDetails
	getNodes
	getParams
	getServiceRequestDetails
	getServiceResponseDetails
✔️	getServices
	getServicesForType
✔️	getServiceType
✔️	getTopics
	getTopicsAndRawTypes
	getTopicsForType
✔️	getTopicType
	sendEncodedMessage
	setStatusLevel

ROSLIB.Topic

	Parameter	Note
✔️	ros
✔️	name
✔️	messageType
	compression
	throttle_rate	Foxglove bridge does not support throttle_rate.
	queue_size
	latch
	queue_length
	reconnect_on_close

	Method	Note
✔️	advertise
✔️	publish
✔️	subscribe
	toStream
✔️	unadvertise
✔️	unsubscribe

ROSLIB.Service

	Parameter	Note
✔️	ros
✔️	name
✔️	serviceType

	Method	Note
	advertise
✔️	callService

ROSLIB.Param

	Parameter	Note
✔️	ros
✔️	name

	Method	Note
	delete
✔️	get
✔️	set

License

@tier4/roslibjs-foxglove is released under the Apache 2.0 license.