Simplest way to grab messages and service calls from a websocket
Hi all,
I am running a UI on my laptop that publishes ros2 messages and makes ros2 service calls to the software on a robot connected to the same network as my laptop. My robot can connect to the internet and I would like to allow others on a different network to control the robot through the UI. Currently my plan is to launch rosbridge_websocket_launch.xml from rosbridge suite with the UI, putting all the topics, services etc on a websocket and add a node to the robot's software that uses roslibpy to sub to the topics on the websocket and use rclpy to publish them back as ros2 messages or call the appropriate services. I am wondering if there is a simpler way to do this. Specifically, what I suspect exists but cannot find is a rosbridge websocket client that does the opposite of the server, i.e. grab the messages and service calls from the websocket and publish messages / call services in the ros2 system. Would really appreciate any pointers, thanks.