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## title = Developing Rosbridge
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## description = This tutorial shows you how to develop on rosbridge itself.
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<<TableOfContents(4)>>

Rosbridge suite comes with a default set of packages for talking the [[https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md|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 [[catkin|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 [[rosbridge_suite/Tutorials/RunningRosbridge|Running Rosbridge tutorial]].

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