Rosbridge Suite

https://wiki.ros.org/rosbridge_suite
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Rosbridge Suite provides a JSON API to ROS functionality for non-ROS programs, including a WebSocket...
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### Source ROS environment

Source: https://wiki.ros.org/rosbridge_suite/Tutorials/DevelopingRosbridge

Source the ROS setup script to initialize the environment.

```bash
source /opt/ros/groovy/setup.bash
```

--------------------------------

### Install rosbridge_suite package

Source: https://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge

Install the rosbridge suite from a .deb package after a basic ROS installation. Replace <rosdistro> with your ROS distribution name.

```bash
sudo apt-get install ros-<rosdistro>-rosbridge-suite
```

--------------------------------

### Source the ROS setup file

Source: https://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge

Set up your environment for ROS and rosbridge by sourcing the setup.bash script. Replace <rosdistro> with your ROS distribution name.

```bash
source /opt/ros/<rosdistro>/setup.bash
```

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### Install rosbridge-server via apt

Source: https://wiki.ros.org/rosbridge_suite

Install the rosbridge server Debian package. Replace <rosdistro> with your ROS distribution name (e.g., noetic).

```bash
sudo apt-get install ros-<rosdistro>-rosbridge-server
```

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### Install rosauth dependency

Source: https://wiki.ros.org/rosbridge_suite/Tutorials/DevelopingRosbridge

Install the required rosauth package using apt-get.

```bash
sudo apt-get install ros-groovy-rosauth
```

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### Add rosbridge to ROS path

Source: https://wiki.ros.org/rosbridge_suite/Tutorials/DevelopingRosbridge

Source the development setup script to add the built packages to the ROS path.

```bash
cd ~/ws
source devel/setup.bash
```

--------------------------------

### Custom port launch file for rosbridge

Source: https://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge

An example launch file that runs rosbridge on port 8080 by including the default launch file and setting the port argument. Use the ~/port param to configure the port.

```xml
<launch>
  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" > 
     <arg name="port" value="8080"/>
  </include>
</launch>
```

--------------------------------

### Rosbridge protocol subscribe example

Source: https://wiki.ros.org/rosbridge_suite

Example rosbridge protocol message for subscribing to a topic. The 'op' field is 'subscribe', the topic is '/cmd_vel', and the type is 'geometry_msgs/Twist'.

```json
{ "op": "subscribe",
  "topic": "/cmd_vel",
  "type": "geometry_msgs/Twist"
}
```

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### Build rosbridge

Source: https://wiki.ros.org/rosbridge_suite/Tutorials/DevelopingRosbridge

Navigate to the workspace root and build the packages using catkin_make.

```bash
cd ~/ws
catkin_make
```

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### Create a workspace

Source: https://wiki.ros.org/rosbridge_suite/Tutorials/DevelopingRosbridge

Create a new directory for the workspace.

```bash
mkdir ~/ws
```

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### Clone rosbridge_suite

Source: https://wiki.ros.org/rosbridge_suite/Tutorials/DevelopingRosbridge

Create the source directory and clone the rosbridge_suite repository.

```bash
mkdir ~/ws/src
cd ~/ws/src
git clone https://github.com/RobotWebTools/rosbridge_suite.git
```

--------------------------------

### Launch rosbridge websocket server

Source: https://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge

Launch the rosbridge server and its packages (rosbridge_server, rosapi) using the included launch file. This creates a WebSocket on port 9090 by default.

```bash
roslaunch rosbridge_server rosbridge_websocket.launch
```
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