ros2rag issueshttps://git-st.inf.tu-dresden.de/jastadd/ros2rag/-/issues2020-08-14T16:16:19+02:00https://git-st.inf.tu-dresden.de/jastadd/ros2rag/-/issues/36Extension: rosbridge2020-08-14T16:16:19+02:00René SchöneExtension: rosbridgeNew communication protocol [rosbridge](http://wiki.ros.org/rosbridge_suite), see also [rosbridge protocol](https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md).
According to [the extension guidelines...New communication protocol [rosbridge](http://wiki.ros.org/rosbridge_suite), see also [rosbridge protocol](https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md).
According to [the extension guidelines](https://git-st.inf.tu-dresden.de/jastadd/ragconnect/-/wikis/extending), the following information are known:
- handler: `RosbridgeHandler`
- URI scheme: `rosbridge://`
For receive endpoints, the following actions should (probably) be taken:
- as consumer, send a [subscribe message](https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md#344-subscribe)
- the "type" must be inferred from the token type - but what are the available types in rosbridge?
- here it is unknown, what values to use for "throttle_rate" and "queue_length", maybe the defaults are fine for now
For send endpoints, the following actions should (probably) be taken:
- upon connect, send an [advertise message](https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md#341-advertise--advertise-)
- as runnable, send a [publish message](https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md#343-publish--publish-)