https://github.com/ichiro-its/kumo

WebSocket bridge for ROS 2
https://github.com/ichiro-its/kumo

bridge python ros ros2 server websocket websocket-server

Last synced: 10 months ago
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WebSocket bridge for ROS 2

• Host: GitHub
• URL: https://github.com/ichiro-its/kumo
• Owner: ichiro-its
• License: mit
• Created: 2021-03-07T11:42:21.000Z (almost 5 years ago)
• Default Branch: master
• Last Pushed: 2023-04-07T05:58:21.000Z (almost 3 years ago)
• Last Synced: 2025-03-26T13:38:26.559Z (11 months ago)
• Topics: bridge, python, ros, ros2, server, websocket, websocket-server
• Language: Python
• Homepage:
• Size: 92.8 KB
• Stars: 5
• Watchers: 4
• Forks: 2
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE

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README

          
# Kumo (雲)

[![latest version](https://img.shields.io/github/v/release/ichiro-its/kumo)](https://github.com/ichiro-its/kumo/releases/)

[![commits since latest version](https://img.shields.io/github/commits-since/ichiro-its/kumo/latest)](https://github.com/ichiro-its/kumo/commits/master)

[![license](https://img.shields.io/github/license/ichiro-its/kumo)](./LICENSE)

[![deploy stable status](https://img.shields.io/github/workflow/status/ichiro-its/kumo/Deploy%20Debian%20Stable?label=deploy%20stable)](https://repository.ichiro-its.org/)

[![deploy nightly status](https://img.shields.io/github/workflow/status/ichiro-its/kumo/Deploy%20Debian%20Nightly?label=deploy%20nightly)](https://repository.ichiro-its.org/)

Kumo (雲, cloud) is a [ROS 2](https://docs.ros.org/en/foxy/index.html) package that provides a bridge server that enables communications between [WebSocket](https://en.wikipedia.org/wiki/WebSocket) applications and ROS 2 nodes.

## Features

- Serve ROS 2 bridge on a specified port and host.

- Support Node, Publisher, Subscription, Client, and Service creation.

- Support Topics and Services communication.

## Requirement

- [ROS 2 Foxy Fitzroy](https://docs.ros.org/en/foxy/).

- [Yakusha](https://github.com/ichiro-its/yakusha) (for JSON serialization).

- [websockets](https://github.com/aaugustin/websockets).

## Installation

### Binary Packages

- See [releases](https://github.com/ichiro-its/kumo/releases) for the latest version of this package.

- Alternatively, this package also available on [ICHIRO ITS Repository](https://repository.ichiro-its.org/) as `ros-foxy-kumo` package.

### Build From Source

- Install colcon as in [this guide](https://colcon.readthedocs.io/en/released/user/installation.html).

- Build the project and source the result.

  ```bash

  $ colcon build

  $ source install/setup.bash

  ```

  > See [this guide](https://docs.ros.org/en/foxy/Tutorials/Workspace/Creating-A-Workspace.html) for more information on how to setup a workspace in ROS 2.

## Usage

Run the bridge server using `bridge` program (use `-h` to list all available parameters).

```

$ ros2 run kumo bridge

```

## Supported Client Libraries

- [Kumo Client](https://github.com/ichiro-its/kumo-client) (JavaScript).

## License

This project is maintained by [ICHIRO ITS](https://github.com/ichiro-its) and licensed under the [MIT License](./LICENSE).