websocket_ros

Getting Started

1. Install Docker
   Follow instructions at docker.com to install Docker on your system.

2. Build Docker Image locally
   In the project directory, build the Docker image:

   docker build -t ros_websocket .

3. Launch ROS Noetic Docker Environment
   Pull and run the ROS Noetic image:

   docker run -it --rm \
     -v $(pwd):/my_ws/src/websocket_ros \
     ros_websocket

4. Test ROS-WebSocket Connection Compile the ROS workspace and source the setup file:

   cd /my_ws
   catkin_make
   source devel/setup.bash

   Inside the container, launch the test:

   ROBOT_CODE=robot3234324232 roslaunch ros_websocket_bridge solelaunch.launch

This will start the ROS-WebSocket connection for testing.

Configuration

The WebSocket bridge can be configured using environment variables or command line arguments:

Environment Variables

• ROBOT_CODE: The robot identification code (required)
• CONTROL_URI: WebSocket URI for control messages (default: ws://localhost:8443/control)
• VIDEO_URI: WebSocket URI for video streaming (default: ws://localhost:8444/video)
• CAMERA_TOPIC: ROS topic for camera images (optional, overrides default /cameraF/camera/color/image_raw)

Command Line Arguments

Command line arguments override both the defaults and the corresponding environment variables.

• --robot-code: The robot identification code
• --control-uri: WebSocket URI for control messages
• --video-uri: WebSocket URI for video streaming
• --camera-topic: ROS topic for camera images
• --log-level: Set logging level (debug, info, warn, error, fatal)

Example Usage

# Using environment variables
export ROBOT_CODE=robot123
export CONTROL_URI=ws://192.168.1.100:5001/control  
export VIDEO_URI=ws://192.168.1.100:5002/video-stream
export CAMERA_TOPIC=/gimbal_cam/image_raw/compressed
roslaunch ros_websocket_bridge solelaunch.launch

# Using command line arguments
ROBOT_CODE=robot123 python3 src/bridge_node.py \ 
  --control-uri ws://192.168.1.100:5001/control \ 
  --video-uri ws://192.168.1.100:5002/video-stream \ 
  --camera-topic /gimbal_cam/image_raw/compressed \ 
  --log-level debug