rosbridge provides a JSON interface to ROS, allowing any client to send JSON to publish or subscribe to ROS topics, call ROS services, and more. rosbridge supports a variety of transport layers, including WebSockets and TCP. For information on the protocol itself, see the rosbridge protocol specification.
For full documentation, see the ROS wiki.
This project is released as part of the Robot Web Tools effort.
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rosbridge_suite is a ROS meta-package including all the rosbridge packages.
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rosbridge_library contains the Python API that receives JSON-formatted strings as input and controls ROS publishers/subscribers/service calls according to the content of the JSON strings.
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rosbridge_server contains a WebSocket server implementation that exposes the rosbridge_library.
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rosapi provides service calls for getting meta-information related to ROS like topic lists as well as interacting with the Parameter Server.
A rosbridge client is a program that communicates with rosbridge using its JSON API. rosbridge clients include:
- roslibjs - A JavaScript API, which communicates with rosbridge over WebSockets.
- jrosbridge - A Java API, which communicates with rosbridge over WebSockets.
- roslibpy - A Python API, which communicates with rosbridge over WebSockets.
rosbridge_suite is released with a BSD license. For full terms and conditions, see the LICENSE file.
This branch contains a groovy-devel based version of the rosbridge suite that has some safety features implemented that check that as respective action (subcription, publish, call service) is actually allowed before it is executed. This prevents access to topics that shouldn't be accessed (e.g. image stream for privacy concerns). This is implemented via 'rosparam' parameter whitelists and blacklists. If all whitelists and blacklists are empty (the default), then the behaviour of the bridge is the same as before, i.e. everything is "bridged". But if a whitelist is not empty, then only topics/services named in the list will be "bridged" all others requests are ignored by this rosbridge implementation. If a blacklist is not empty, then all topics/services listed are explicitly ignored (only makes sense, when whitelist is empty).
The following lists exist and can be configured:
advertisements_whitelist: e.g. set to[/tf2_web_republisher/goal, /tf2_web_republisher/cancel], default[]advertisements_blacklist: default[]service_whitelist: e.g.[/rosapi/get_param], default[]service_blacklist: default[]subscription_whitelist: e.g.[/amcl_pose, /mileage, /tf2_web_republisher/status, /tf2_web_republisher/feedback, /tf2_web_republisher/result, /map], default[]subscription_blacklist: default[]
Here's an exemplary YAML file corresponding to the above:
advertisements_whitelist: [/tf2_web_republisher/goal, /tf2_web_republisher/cancel]
service_whitelist: [/rosapi/get_param]
subscription_whitelist: [/amcl_pose, /mileage, /tf2_web_republisher/status, /tf2_web_republisher/feedback, /tf2_web_republisher/result, /map]
See https://github.com/strands-project/rosbridge_suite/blob/readonly_capabilities/rosbridge_server/launch/rosbridge_websocket_safe.launch for an example launch file that sets the parameters.
This is part of the STRANDS project
See the AUTHORS file for a full list of contributors.