https://github.com/foxglove/ros1

Standalone TypeScript implementation of the ROS 1 protocol with a pluggable transport layer
https://github.com/foxglove/ros1

networking nodejs protocol robotics ros ros1 tcp typescript

Last synced: 2 months ago
JSON representation

Standalone TypeScript implementation of the ROS 1 protocol with a pluggable transport layer

• Host: GitHub
• URL: https://github.com/foxglove/ros1
• Owner: foxglove
• License: mit
• Created: 2021-07-15T17:26:52.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2024-01-22T04:21:32.000Z (12 months ago)
• Last Synced: 2024-09-24T17:17:39.328Z (4 months ago)
• Topics: networking, nodejs, protocol, robotics, ros, ros1, tcp, typescript
• Language: TypeScript
• Homepage: https://foxglove.dev
• Size: 454 KB
• Stars: 13
• Watchers: 3
• Forks: 6
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# @foxglove/ros1

> _Standalone TypeScript implementation of the ROS 1 (Robot Operating System) protocol with a pluggable transport layer_

[![npm version](https://img.shields.io/npm/v/@foxglove/ros1.svg?style=flat)](https://www.npmjs.com/package/@foxglove/ros1)

## Usage

```Typescript

// An example client that connects to the ROS1 turtlesim node

import { RosNode } from "@foxglove/ros1";

import { getEnvVar, getHostname, getNetworkInterfaces, getPid, TcpSocketNode } from "@foxglove/ros1/nodejs";

import { HttpServerNodejs } from "@foxglove/xmlrpc/nodejs";

async function main() {

  const name = "/testclient";

  let rosNode: RosNode | undefined;

  try {

    rosNode = new RosNode({

      name,

      rosMasterUri: getEnvVar("ROS_MASTER_URI") ?? "http://localhost:11311/",

      hostname: RosNode.GetRosHostname(getEnvVar, getHostname, getNetworkInterfaces),

      pid: getPid(),

      httpServer: new HttpServerNodejs(),

      tcpSocketCreate: TcpSocketNode.Create,

      log: console,

    });

    await rosNode.start();

    const params = await rosNode.subscribeAllParams();

    console.dir(params);

    const sub = rosNode.subscribe({

      topic: "/turtle1/color_sensor",

      dataType: "turtlesim/Color",

    });

    sub.on("message", (msg, data, pub) => {

      console.log(

        `[MSG] ${JSON.stringify(msg)} (${

          data.byteLength

        } bytes from ${pub.connection.getTransportInfo()})`,

      );

    });

    await new Promise((resolve) => setTimeout(resolve, 1000));

    console.dir(sub.getStats());

  } catch (err) {

    const msg = (err as Error).stack ?? `${err}`;

    console.error(msg);

  } finally {

    rosNode?.shutdown();

  }

}

void main();

```

### Test

`yarn test`

## License

@foxglove/ros1 is licensed under the [MIT License](https://opensource.org/licenses/MIT).

## Releasing

1. Run `yarn version --[major|minor|patch]` to bump version

2. Run `git push && git push --tags` to push new tag

3. GitHub Actions will take care of the rest

## Stay in touch

Join our [Slack channel](https://foxglove.dev/slack) to ask questions, share feedback, and stay up to date on what our team is working on.