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HTTP server on board Turtlebot?

asked 2017-07-31 16:04:06 -0500

pitosalas gravatar image

updated 2017-07-31 16:40:49 -0500

This should technically easy to do. Have people set up an HTTP server onboard a ROS robot, e.g. turtlebot3?

I want to allow remote control from a web app or mobile app of my robot, without requiring the client to be a ROS program. I want to use standard HTTP/HTML against the wireless connection, with the robot having a static IP address.

I think I need to locate the right python library that will do a simple web server and install and run it on the onboard Pi. In my googling I thought I saw that there was a problem with the interaction between threading of ROS and of an http server so something more elaborate was needed. Does anyone have a worked example?

Any thoughts or pointers?

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python -m SimpleHTTPServer with rosbridge_suite?

gvdhoorn gravatar image gvdhoorn  ( 2017-07-31 16:38:03 -0500 )edit

In my googling I thought I saw that there was a problem with the interaction between threading of ROS and of an http server so something more elaborate was needed. Does anyone have a worked example?

pitosalas gravatar image pitosalas  ( 2017-07-31 16:40:40 -0500 )edit

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answered 2017-07-31 16:49:46 -0500

jayess gravatar image

updated 2017-07-31 16:50:57 -0500

Have you taken a look at rosbridge_suite from ROS Web Tools? From the wiki:

Rosbridge provides a JSON API to ROS functionality for non-ROS programs. There are a variety of front ends that interface with rosbridge, including a WebSocket server for web browsers to interact with. Rosbridge_suite is a meta-package containing rosbridge, various front end packages for rosbridge like a WebSocket package, and helper packages.

There's also ROStful. From the README:

ROStful is a lightweight web server for making ROS services, topics, and actions available as RESTful web services. It also provides a client proxy to expose a web service locally over ROS.

These aren't HTTP servers and I'm not too familiar with either of these, but they may be close to what you're looking for.

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Good pointers. I followed them and found: https://github.com/asmodehn/rostful which is a fork and actually has a developer who is using it, so we will be trying that one! Thanks!

pitosalas gravatar image pitosalas  ( 2017-07-31 19:58:30 -0500 )edit

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Asked: 2017-07-31 16:04:06 -0500

Seen: 236 times

Last updated: Jul 31 '17