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
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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
- Archived: true
- Created: 2021-07-15T17:26:52.000Z (almost 4 years ago)
- Default Branch: main
- Last Pushed: 2025-01-08T20:27:21.000Z (6 months ago)
- Last Synced: 2025-04-19T00:29:02.446Z (2 months ago)
- Topics: networking, nodejs, protocol, robotics, ros, ros1, tcp, typescript
- Language: TypeScript
- Homepage: https://foxglove.dev
- Size: 334 KB
- Stars: 13
- Watchers: 2
- Forks: 7
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# @foxglove/ros1
> [!IMPORTANT]
> This package has moved to https://github.com/foxglove/ros-typescript.
> _Standalone TypeScript implementation of the ROS 1 (Robot Operating System) protocol with a pluggable transport layer_
[](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.