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Developing Rosbridge

Description: This tutorial shows you how to develop on rosbridge itself.

Keywords: rosbridge, Robot Web Tools

Tutorial Level: INTERMEDIATE

Contents

  1. Building Rosbridge

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.

Building Rosbridge

Rosbridge 2.0 is fully catkinized and the build procedure is similar for other Catkin-based packages.

  1. Install the rosbridge dependency rosauth 

    • sudo apt-get install ros-groovy-rosauth
  2. Source ROS 
    • source /opt/ros/groovy/setup.bash
  3. Create a workspace: 
    • mkdir ~/ws
  4. Clone the rosbridge suite 
    • mkdir ~/ws/src
cd ~/ws/src
git clone https://github.com/RobotWebTools/rosbridge_suite.git
  5. Build rosbridge 
    • cd ~/ws
catkin_make
  6. 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.

Wiki: rosbridge_suite/Tutorials/DevelopingRosbridge (last edited 2013-05-04 20:43:17 by baalexander)

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