https://github.com/achim-k/foxglove_websocket_server

A simple websocket server that exposes ROS topics using the Foxglove websocket protocol
https://github.com/achim-k/foxglove_websocket_server

foxglove foxglove-studio ros websocket

Last synced: 12 days ago
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A simple websocket server that exposes ROS topics using the Foxglove websocket protocol

• Host: GitHub
• URL: https://github.com/achim-k/foxglove_websocket_server
• Owner: achim-k
• License: mit
• Created: 2022-10-14T19:53:02.000Z (over 2 years ago)
• Default Branch: ros1
• Last Pushed: 2022-10-31T17:00:07.000Z (about 2 years ago)
• Last Synced: 2024-11-11T02:39:33.553Z (2 months ago)
• Topics: foxglove, foxglove-studio, ros, websocket
• Language: C++
• Homepage:
• Size: 19.5 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Foxglove WebSocket Server

A simple websocket server that exposes ROS topics using the [Foxglove websocket protocol](https://github.com/foxglove/ws-protocol), providing a smooth integration with [Foxglove Studio](https://studio.foxglove.dev/).

C++ was chosen as the implementation language for the following reasons:

  - True multi threading support unlike Python (Global interpreter lock)

  - The node can be deployed as a nodelet

## Launch

Use the provided launch file that also spins up the `rosapi` node which is required to get available topics and their message definitions.

```bash

roslaunch foxglove_websocket_server foxglove_server.launch

```

## Topic discovery

By default, topic discovery is performed periodically by calling the `rosapi/topics_and_raw_types` service. This behavior can be disabled by setting the `topic_discovery_period` parameter to `0`. In this case, you will have to manually trigger topic discovery using the provided `discover_topics` service.