rosbridge (Websocket protocol update ?)

answered 2012-04-11 02:59:48 -0500

BeuBeu
36 ● 7 ● 8 ● 12

Hello, In fact I have developed an application like yours. My goal is to have several widgets in the clients side (javascript). For example one widget for a basic display of a topic in ROS. A second one for some graph using flot. An other one which could display the roll,pitch,yaw ... It's also using websockets and it is multithreaded. For now, i display messages from ros each time a new message arrives (using threading.Event()) One of the problem of my application is the CPU consumption

Last week, i discovered your application which looks really incredible. Moreover you can write messages in ros.That's why i will update your node with the last websocket protocol and compared the CPU consumption. I 'll give you some feedback soon

Benoît

answered 2012-04-11 08:29:42 -0500

BeuBeu
36 ● 7 ● 8 ● 12

updated 2012-04-11 08:50:43 -0500

Sorry Tjay i didn't answer to your question. For example, Firefox V11.0 uses the last websocket protocol. Moreover, MozWebsocket is deprecated

answered 2012-04-11 09:12:56 -0500

BeuBeu
36 ● 7 ● 8 ● 12

I implemented the last webscoket protocol for the handshake function. It works because my socket status is connected :). When I launch run rosbridge node , I have "2 concurrent connection"

I register a handler for a specific topic and subscribe to this topic following from_answer_ros and rosbridge_tutorial

Apparently it works because I dont catch any error but I don't receive message from this topic in my javascript client. Finally, after my main function ended, I get an error in the javascript file (from firebug)

The connection to ws://127.0.0.1:9090/ was interrupted while the page was loading.

this.socket = new WebSocket(url);

And appears in Rosbridge terminal :

closed 9

I can't join my javascript code because my Karma is too low. Let me know if you need it