Rosbridge driver
This driver uses the rosbridge_suite with the python client (roslibpy ↪) to allow topic publishing and subscribing in a running ROS device.
Note
The host needs to run the rosbridge websocket server. Installation instructions can be found at https://wiki.ros.org/rosbridge_suite ↪.
Parameters
Aside from the common parameters described in the communication_driver docs, this driver includes:
- host: ROS host name. Default =
localhost
- port: Port assigned to ros_bridge. Default =
9090
Setup data
The setup data will give values to the parameters required and will specify the topics info. Variables with operation = write
will be configured as publishers, while variables with operation = read
are subscribers.
{
"parameters": {
"host": "192.168.1.100",
"port": 9090,
},
"variables": {
"publisher_00": {
"datatype": "word",
"size": 1,
"operation": "write"
},
"subscriber_00": {
"datatype": "word",
"size": 1,
"operation": "read"
}
}
}
Note
The setup_params in the generic PLC components for rosbridge will need the following format:
{"host": "192.168.1.100", "port": 9090}