Light weight web server running on my ROS robot?

[Pito Salas]

Newbie question: I need to have a basic HTTP server running on my ROS robot to take GET and POST requests over TCP/IP and either return status or take certain actions. I've found a many tantalizing ideas and leads googling but none really nail it down for me with a sample application.

So far the most likely candidate I've seen is https://github.com/tork-a/roswww but I can't quite understand how to write my module using this library to get the effect I want.

In pseudo code:

Listen http port 8080;

On "/status":

  Use ROS calls in python to grab status info

  Create an html text string with the result page

  Return it

On "/turn/right":

  create the right topic (e.g. Twist)

  Publish it

etc.

[Jihoon Lee]

Hi Pito,

Check out rostful and pyros. These two should serve what you need.

• Rostful : https://github.com/benkehoe/rostful
• pyros: https://github.com/asmodehn/pyros

Cheers,
Jihoon

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