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Developing RosbridgeDescription: This tutorial shows you how to develop on rosbridge itself.
Keywords: rosbridge, Robot Web Tools
Tutorial Level: INTERMEDIATE
Rosbridge suite comes with a default set of packages for talking the rosbridge protocol over a WebSocket transport layer. However, the protocol is transport layer agnostic, and could very well support TCP and other transports. Pull requests for these additional transport packages are highly encouraged!
This tutorial is meant to help you get started building and developing rosbridge itself.
Rosbridge 2.0 is fully catkinized and the build procedure is similar for other Catkin-based packages.
Install the rosbridge dependency rosauth
sudo apt-get install ros-groovy-rosauth
- Source ROS
- Create a workspace:
- Clone the rosbridge suite
mkdir ~/ws/src cd ~/ws/src git clone https://github.com/RobotWebTools/rosbridge_suite.git
- Build rosbridge
cd ~/ws catkin_make
- Add the freshly installed rosbridge to your ROS path
cd ~/ws source devel/setup.bash
You can now run rosbridge just like in the Running Rosbridge tutorial.