Hi all,
Due to certain network configurations on the robot side, which I am not allowed to modify whatsoever, its ROS_MASTER_URI is set to http://localhost:11311 which subsequently cannot share topics across the network, I am trying to use Rosbridge to work around such limitation. Unfortunately Rosbridge_suite does not offer much documentation on how to do it.
Taking for instance to subscribe a laserScan topic from the robot side and publish it at my client side, what I've achieved so far are the following:
1. Launch rosbridge_tcp by the robot side
2. use Python socket to subscribe to robot's topic and decode the Json formatted string into Python object by my client side
3. I can acquire elements within the received and de-serialized Python object
4. I have the topic advertised using rosbridge library capabilities' protocol and advertise module
5. I have the topic published using rosbridge library capabilities' publish module
But at this point, there is nothing publishing at my client side. What should be the proper way to publish any topic? Thank you in advance!
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