rosbridgev2 TCP/IP socket connection?

[Jihoon]

Dear rosbridge-users,

I was wondering if rosbridgev2 can handle TCP/IP socket connection.
rosbridge v1 was able to handle this but it is not mentioned in
rosbridge.v2 specification documentation.

Cheers,
Jihoon

[Jonathan Mace]

It doesn't.  Raw sockets was an artefact of Trevor writing the websocket server himself.  He hacked in some handling so that it would support raw TCP as well as websockets.

rosbridge server only supports websockets.  If you want TCP you could easily wrap a TCP server around the rosbridge library.

Jon

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[Chad Jenkins]

Jon,

If Jihoon created a version of the rosbridge server for TCP sockets, would you advise including this in the rosbridge_suite stack?  To the positive, this would add functionality that seems obvious and useful.  The to the negative, this could cause some confusion.  That said, this would be better than Trevor's v1 method for detecting the type of transport.

-Chad

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[Jonathan Mace]

You could even go so far as connecting the rosbridge v2 library with the terriblewss websocket server from rosbridge v1.

[Jihoon]

Well. it was just a curiosity. One guy in my lab was trying to connect to rosbridge server using C++ , and debating whether he should use TCP/IP or Web socket. I think he ended up with using websocket.

Jihoon

On 09/07/2012 07:34 AM, Jonathan Mace wrote:

You could even go so far as connecting the rosbridge v2 library with the terriblewss websocket server from rosbridge v1.

On Sep 6, 2012 9:49 AM, "Chad Jenkins" <ode...@gmail.com> wrote:

Jon,

If Jihoon created a version of the rosbridge server for TCP sockets, would you advise including this in the rosbridge_suite stack?  To the positive, this would add functionality that seems obvious and useful.  The to the negative, this could cause some confusion.  That said, this would be better than Trevor's v1 method for detecting the type of transport.

-Chad

On Wed, Sep 5, 2012 at 6:36 PM, Jonathan Mace <jonatha...@gmail.com> wrote:

It doesn't.  Raw sockets was an artefact of Trevor writing the websocket server himself.  He hacked in some handling so that it would support raw TCP as well as websockets.

rosbridge server only supports websockets.  If you want TCP you could easily wrap a TCP server around the rosbridge library.

Jon

On 5 September 2012 18:18, Jihoon <neve...@gmail.com> wrote:

Dear rosbridge-users,

I was wondering if rosbridgev2 can handle TCP/IP socket connection. rosbridge v1 was able to handle this but it is not mentioned in rosbridge.v2 specification documentation.

Cheers,
Jihoon

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[felixm...@gmail.com]

Dear all,

we have been using rosbridgeV1.0 with TCP sockets so far as well.
Now, I am happy to let you know that we implemented a wrapper for TCP to WebSockets. Thus, we are able to use rosbridgeV2.0 with TCP sockets.

The tcp2ws-wrapper seems to work fine but may need some more testing.
If anyone is interested in using it - or even integrate it into rosbridgeV2.0 - feel free to contact me.

With best regards,
Felix

[Chad Jenkins]

Hi Felix,

Thanks for offering this wrapper to the community.

If you decide to submit a pull request, you can do this through the rosbridge repository on github:

  https://github.com/RobotWebTools/rosbridge_suite

Chad
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