external action server called with rosbridge without js

asked 2019-04-29 01:57:19 -0500

pennjamin gravatar image

updated 2019-04-29 02:15:03 -0500

Hello there,

TL;DR: Is it possible to set up an external action server with any available library (like roslibpy) and (probably) rosbridge? Ideally without the need to run an additional http server for javascript code?

Long story: My ROS systems needs to retrieve information from an external Windows-based system. This information takes a while to be computed and it might be useful to interrupt the execution / get intermediate feedback. Actions seem to be applicable here. I know that service servers can be established on external machines with e.g. roslibpy However I couldn't find examples for establishing an action server in a similar fashion.

External action clients can certainly be run following these instructions: https://roslibpy.readthedocs.io/en/la...

roslibjs offers the functionality I'm looking for: https://github.com/RobotWebTools/rosl...

But if possible I would like to avoid having to run an additional http server / nodejs app and thus introduce another potential point of failure to my system. A direct connection using Python, C#, C++ or VB would be preferred.

Any ideas? Best Ben

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Comments

hey! have you find an idea? I am having the same issue with c++ , I want to use rosbridge without a browser or html file. thanks! Metin

mmp52 gravatar imagemmp52 ( 2019-07-16 04:25:42 -0500 )edit
1

Hi,

yes roslibpy now has this class roslibpy.actionlib.SimpleActionServer(...) here:

https://roslibpy.readthedocs.io/en/la...

They actually added the feature because of a request of mine on github here:

https://github.com/gramaziokohler/ros...

Very kind of them. This is Python only though, I don't know anything about other languages and C++

pennjamin gravatar imagepennjamin ( 2019-07-17 19:15:07 -0500 )edit