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How to implement rosbridge in my copter?

asked 2016-10-31 06:46:49 -0500

Antolinos95 gravatar image

updated 2016-11-02 04:47:43 -0500

Hi community,

I'm a beginner in ROS, and I'm a bit stuck. I have an hexacopter which runs ROS Indigo, and I want to communicate with it using a simple Java interface (sub/pub some topics to takeoff, change velocity,..).

I've found a library that could help me: However, I don't understand how the copter side works, I mean, how can I subscribe to a topic of my hexacopter through the websocket?

P.D.:I can connect with my copter using UDP:6000, when I use APM Planner or Gazebo, but I don't know how to do it with a websocket.

Thank you for your support!

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answered 2018-04-27 15:08:13 -0500

Ricardo Angeli gravatar image

You want to launch mavros to connect your copter running ArduPilot to the ROS network. Once you have that working, try manually publishing and subscribing to topics and see if the copter responds. Then you need to set up rosbridge_suite to run a rosbridge server. Finally, create a Java application that uses that java_rosbridge library to publish/subscribe to topics.

In the end, if I understand correctly, if you were to publish a topic from your Java application the chain would look like this: Java app->java_rosbridge library->rosbridge->mavros->ArduPilot. Ideally run the java and all the ROS stuff from the ground station and use UDP to wirelessly talk to ArduPilot on the copter.

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Asked: 2016-10-31 06:46:49 -0500

Seen: 166 times

Last updated: Nov 02 '16