amr_interop_bridge

This is client for communication according to the MassRobotics AMR Interoperability Standard. it sends ROS1 topics to the AMR Interoperability Receiver via websockets. ( Receiving is not supported. )

How to move it

Since it contains nodes that simulate ROS1 topics, you can try to run it immediately.

1. install the MassRobotics AMR Interoperability Standard Receiver

Please refer to the link. https://github.com/MassRobotics-AMR/AMR_Interop_Standard

2. Clone the repository to catkin_workspace under src

example

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ cd src
$ git clone git@github.com:LexxPluss/amr_interop_bridge.git

3. Clear dependencies

example

$ pip2 install websocket-client pytz

4. Build and load

example

$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash

5. Execute

example1 : send minimum required

$ roslaunch amr_interop_bridge amr_interop_bridge_required.launch

example2 : send minimum required ( specify the server. by default, connect to ws://localhost:3000 )

$ roslaunch amr_interop_bridge amr_interop_bridge_required.launch url:=ws://SERVER-ADDRESS

example3 : send full properties

$ roslaunch amr_interop_bridge amr_interop_bridge_full.launch