ROS bridge内网穿透例程

ros_broidge使用示例

1. 安装与基本通信

sudo apt-get install ros-noetic-rosbridge-*
ros_bridge使用的是websocket的通信机制

# -*-coding:utf-8-*-
import asyncio
import websockets
import json


async def connect_to_ros_bridge():
    uri = "ws://127.0.0.1:8080"

    async with websockets.connect(uri) as websocket:
        # 构造要发送的ROS消息
        ros_message = {
            "op": "subscribe",
            "topic": "/scan"
        }

        # 发送消息给ROS Bridge
        await websocket.send(json.dumps(ros_message))

        while True:
            # 接收来自ROS Bridge的消息
            response = await websocket.recv()

            # 处理收到的消息
            data = json.loads(response)
            # 在这里处理数据，可以根据需要提取信息
            print(data)


# 启动连接
asyncio.get_event_loop().run_until_complete(connect_to_ros_bridge())

此处为内网穿透工具的使用 ，将远程的服务器ROS映射到本地端口

2. service方式通信

import asyncio
import websockets
import json

async def call_ros_service():
    # 定义ROS Bridge的WebSocket地址
    ros_bridge_url = "ws://your_ros_bridge_url"

    async with websockets.connect(ros_bridge_url) as websocket:
        # 构造要发送的ROS服务请求
        ros_service_request = {
            "op": "call_service",
            "service": "/move_base/NavfnROS/make_plan",
            "args": {
                "start": {
                    "header": {
                        "stamp": {
                            "secs": 0,
                            "nsecs": 0
                        },
                        "frame_id": "map"
                    },
                    "pose": {
                        "position": {
                            "x": -1.0,
                            "y": 2.0,
                            "z": 0.0
                        },
                        "orientation": {
                            "x": 0.0,
                            "y": 0.0,
                            "z": 0.0,
                            "w": 1.0
                        }
                    }
                },
                "goal": {
                    "header": {
                        "stamp": {
                            "secs": 0,
                            "nsecs": 0
                        },
                        "frame_id": "map"
                    },
                    "pose": {
                        "position": {
                            "x": 1.0,
                            "y": 4.0,
                            "z": 0.0
                        },
                        "orientation": {
                            "x": 0.0,
                            "y": 0.0,
                            "z": 0.0,
                            "w": 1.0
                        }
                    }
                }
            }
        }

        # 发送服务请求给ROS Bridge
        await websocket.send(json.dumps(ros_service_request))

        # 接收来自ROS Bridge的服务响应
        response = await websocket.recv()

        # 处理服务响应
        data = json.loads(response)
        if data.get("op") == "service_response":
            service_response = data.get("values")
            print("Service Response:", service_response)
        else:
            print("Received an unexpected message:", data)

# 启动WebSocket连接和服务调用
asyncio.get_event_loop().run_until_complete(call_ros_service())

拿到了