rosbridge_client_cpp

Implementation of a C++11 rosbridge client for rosbridge protocol v2.0.

The library was designed to:

Be robust to communication failures;
Handle transparently reconnections in case of temporary interruptions of communication;
Have an interface as similar as possible to the ROS standard one.

Usage

In order to declare Publishers, Subscribers, ServiceClients, and ServiceServers, you need to create an instance of the RosbridgeClient:

#include <rosbridge_client_cpp/rosbridge.h>

auto on_connection = [](){ std::cout << "RosbridgeClient connected" << std::endl; };
auto on_disconnection = [](){ std::cout << "RosbridgeClient disconnected" << std::endl; };
RosbridgeClient rb("localhost", 9090, on_connection, on_disconnection);

Publisher

Publisher my_pub(rb, "/my/topic", "std_msgs/String", 20);
picojson::object json;
json["data"] = picojson::value("Hello There!");
my_pub.publish<picojson::object>(json);

Subscriber

auto my_callback = [](const picojson::object& json){ std::cout << std::to_string(json) << std::endl; };
Subscriber my_sub(rb, "/my/topic", "std_msgs/String", my_callback, 5);

ServiceClient

ServiceClient my_client(rb, "/my/service");
picojson::object json;
json["data"] = picojson::value("Hello There!");
my_client.call(json, std::chrono::seconds(5));

ServiceServer

auto my_callback = [](const picojson::object& request) -> picojson::object
{
    picojson::object response;
    response["success"] = picojson::value(true);
    response["message"] = picojson::value("Hello There!");
    return response;
};
ServiceServer my_server("/my/service", "std_srvs/Trigger", my_callback);

External dependencies

sudo apt-get install zlib1g-dev libssl-dev libcurl4-openssl-dev

Build and Install

cd <path-to-repository>
mkdir build && cd build
cmake .. && make -j$(nproc)
sudo make install

License

Copyright (C) 2017 Antonio Coratelli

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

Acknowledgements

This library links statically:

std::optional by Andrzej Krzemienski, released under Boost Software License;
asio by Christopher M. Kohlhoff, released under Boost Software License;
websocketpp by Peter Thorson, released under BSD 3-Clause License;
picojson by Cybozu Labs, Inc. and Kazuho Oku, released under BSD 2-Clause.

Possible improvements for the future:

Use condition variables instead of loops with a fixed rate;
Deallocate orphan TalkerQueues and ListenerQueues;
Add message type verifications.

antoniocoratelli / rosbridge_client_cpp