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jrosbridge

A Native Java EE rosbridge Client

This project is released as part of the Robot Web Tools effort.

Example Usage

To include this library, use the following in your Maven configuration:

<dependency>
    <groupId>edu.wpi.rail</groupId>
    <artifactId>jrosbridge</artifactId>
    <version>0.2.0</version>
</dependency>

public static void main(String[] args) throws InterruptedException {
	Ros ros = new Ros("localhost");
	ros.connect();

	Topic echo = new Topic(ros, "/echo", "std_msgs/String");
	Message toSend = new Message("{\"data\": \"hello, world!\"}");
	echo.publish(toSend);

	Topic echoBack = new Topic(ros, "/echo_back", "std_msgs/String");
	echoBack.subscribe(new TopicCallback() {
		@Override
		public void handleMessage(Message message) {
			System.out.println("From ROS: " + message.toString());
		}
	});

	Service addTwoInts = new Service(ros, "/add_two_ints", "rospy_tutorials/AddTwoInts");

	ServiceRequest request = new ServiceRequest("{\"a\": 10, \"b\": 20}");
	ServiceResponse response = addTwoInts.callServiceAndWait(request);
	System.out.println(response.toString());
	
	ros.disconnect();
}

License

jrosbridge is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.