roslibjs

The Standard ROS JavaScript Library

For full documentation see the ROS wiki.

JSDoc can be found on the Robot Web Tools website.

This project is released as part of the Robot Web Tools effort.

Usage

Install roslibjs with any NPM-compatible package manager via, for example,

npm install roslib

Pre-built files can be found in either roslib.js or roslib.min.js.

As we are updating to v2, we don't provide pre-built files anymore in the repo.

Alternatively, you can use the v1 release via the JsDelivr CDN: (full) | (min)

Quick Start Example

Here’s a minimal example to connect to a ROS master using roslibjs:

import ROSLIB from 'roslib';

// Connect to ROS bridge server
const ros = new ROSLIB.Ros({
  url: 'ws://localhost:9090'
});

// Connection events
ros.on('connection', () => {
  console.log('Connected to websocket server.');
});

ros.on('error', (error) => {
  console.log('Error connecting to websocket server:', error);
});

ros.on('close', () => {
  console.log('Connection to websocket server closed.');
});

// Create a topic object
const cmdVel = new ROSLIB.Topic({
  ros: ros,
  name: '/cmd_vel',
  messageType: 'geometry_msgs/Twist'
});

// Publish a message
const twist = new ROSLIB.Message({
  linear: { x: 0.1, y: 0.0, z: 0.0 },
  angular: { x: 0.0, y: 0.0, z: 0.1 }
});
cmdVel.publish(twist);





## Troubleshooting

1. Check that connection is established. You can listen to error and
   connection events to report them to console. See
   examples/simple.html for a complete example:

   ```js
   ros.on('error', function(error) { console.log( error ); });
   ros.on('connection', function() { console.log('Connection made!'); });

2. Check that you have the websocket server is running on port 9090. Something like this should do:

   netstat -a | grep 9090

Dependencies

roslibjs has a number of dependencies. You will need to run:

npm install

Depending on your build environment.

Build

Checkout CONTRIBUTING.md for details on building.

License

roslibjs is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS.md file for a full list of contributors.