ros2-web-bridge, which leverages the rclnodejs client, provides a JSON interface to ROS 2.0 by adopting the rosbridge v2 protocol. The bridge can process commands through JSON tuneled over WebSockets.

A client is a program that communicates with ros2-web-bridge using its JSON API. Clients include:

• roslibjs - A JavaScript API, which communicates with ros2-web-bridge over WebSockets.

1.Prepare for ROS2

Please reference the wiki to install ROS2.

2.Install Node.js You can install Node.js:

• Download from Node.js offical website, and install it.
• Use the Node Version Manager (nvm) to install it.

3.Install dependencies

npm install

1.Start ros2-web-bridge module:

node bin/rosbridge.js

2.Start the express server:

cd examples && node index.js

3.Open your browser, and navigate to URL:

http:https://localhost:3000/html/publisher.html

For the latest release of roslibjs (0.19.0), when sending command call_service to request the service, the type of service is not included which is a necessary parameter for ROS 2.0. So you have to transfer both the request and the type of service through args, please reference the code below:

let addTwoInts = new ROSLIB.Service({
  ros : ros,
  name : '/add_two_ints',
  serviceType : 'example_interfaces/AddTwoInts'
});

let request = new ROSLIB.ServiceRequest({
  a : 1,
  b : 2
});

let args = {request: request, type: 'example_interfaces/AddTwoInts'};
addTwoInts.callService(args, function(result) {
  console.log(`Receive result: ${result.sum}`);
});

If you want to contribute code to this project, first you need to fork the project. The next step is to send a pull request (PR) for review. The PR will be reviewed by the project team members. Once you have gained "Look Good To Me (LGTM)", the project maintainers will merge the PR.

This project abides by Apache License 2.0.