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WebSocket gateway for ROS2 topics and services

License: Apache License 2.0

CMake 3.58% C++ 95.45% Python 0.97%

robotics ros2 ros2-galactic rosbridge rosbridge-interface websocket

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rws's Issues

Consider different executor

Hi @v-kiniv

The multithreaded executor is not actually using more than one thread. In order to achieve that you need multiple callback groups, see the example at
https://github.com/ros2/examples/blob/95c3b145e4f75c24e1617d97acc3d349ad67e78f/rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp#L78-L81

However, to minimize CPU usage, I suggest testing out the "static" single threaded executor. See ros2/rclcpp#1034 and ros2/rclcpp#873

After switching rclcpp::executors::MultiThreadedExecutor executor; to rclcpp::executors::StaticSingleThreadedExecutor executor; I suggest testing to see if CPU usage decreases.

Humble service calls don't return data

Alright so I'm back at this and I've finally figured out what's going wrong with service calls on humble.

Here's a simple rclpy service I've tested with that prints that it's been called and returns a test string.

    self.create_service(Trigger, '/test', self.test)

    def test(self, req, res):
        self.get_logger().info("Test service called!")
        res.success = True
        res.message = "Service handler online."
        return res

Called from the terminal it returns all as it should:

ros2 service call /test std_srvs/srv/Trigger {}
requester: making request: std_srvs.srv.Trigger_Request()

response:
std_srvs.srv.Trigger_Response(success=True, message='Service handler online.')

And the service reports being called:

[service_handler_node-4] [INFO] [1705673112.498633772] [service_handler_node]: Test service called!

Calling it from Foxglove however, yields a {}, which I suspect is a client side fix since calling it manually from roslibjs returns undefined.

What's interesting though is that the services genuinely get called on the ROS side:

[service_handler_node-4] [INFO] [1705673112.498633772] [service_handler_node]: Test service called!
[service_handler_node-4] [INFO] [1705673133.305536556] [service_handler_node]: Test service called!
[service_handler_node-4] [INFO] [1705673333.699421237] [service_handler_node]: Test service called!
[service_handler_node-4] [INFO] [1705673338.410078049] [service_handler_node]: Test service called!

The response just doesn't make it back. So there's some issue in parsing that part. In case it helps tracking the issue down, the errors I'm getting are:

rmw_serialize: invalid data size, at ./src/rmw_node.cpp:1727

and

'Handle's typesupport identifier (rosidl_typesupport_cpp) is not supported by this library, at ./src/type_support_dispatch.hpp:111'

I'm seeing the same behaviour on both cyclone and dynamic fastrtps.

Doing unsubscribe unsubscribes all subscribers for a topic

I've noticed a difference in behavior of rws compared to rosbridge when using subscriptions through roslibjs. With rosbridge, if I subscribe to the same topic from two places and unsubscribe once, I still get messages to the remaining subscriber. With rws, this is not the case. It appears rosbridge keeps track of the ids of the subscribers and does not kill the ros subscription until all subscribers of a topic have unsubscribed.

Looking at the ROSLIB.Topic object created it seems it has a concept subscribeId: "subscribe:/echoer/int32:805" with a number at the end, unique to each subscriber. When calling subscribe, this is passed to the bridge as

{"op":"subscribe","id":"subscribe:/echoer/int32:805","type":"std_msgs/msg/Int32","topic":"/echoer/int32","compression":"none","throttle_rate":0,"queue_length":0}

While one might argue keeping track of this should be done in roslibjs rather than in the bridge, that's how it works today and it would be nice to be able to use roslibjs with rws as is.

Use system libraries for dependencies

Right now, RWS is using websocketpp, asio and nlohmann/json and these 3 libraries will be fetched by CMake during configuration step. Is there a reason they need to be built like this? Can the libraries installable via apt work?

You can add the following to the package.xml file

<build_depend>asio</build_depend>
<build_depend>nlohmann-json-dev</build_depend>
<build_depend>libwebsocketpp-dev</build_depend>

Then the rosdep tool can be used to install the correct packages from apt. Note that the rosdep tool works for other linux distributions than just Ubuntu.

Maybe you can also change the CMakeLists.txt to attempt to find_package and if it fails to find a package then fetch and build? I also think that automatic fetching and building should be an option that is disabled by default.

Multiple concurrent clients

So this is something more of a suggestion than a bug report, I've noticed that there can seemingly only be one client connected to one topic at a time.

If I e.g. open two browser windows that both subscribe to the same long list of topics at roughly the same time, they'll seemingly split the list in two, one receiving some and the other what's left depending on which connection gets there first. I suspect some of the bugs I've seen in the past were made a bit more confusing due to this.

There is the issue of course that mobile browser suspended clients or background windows will pull resources when not actually being used, which serving only the latest one solves, but it also prevents multiple instances of the same app running concurrently. Besides, the watchdog should take care of those instances to some extent, right?

The rosbridge default behaviour is to send all data to all clients, so it would be nice to have parity there.

Standalone Component separate from main executable

Hi @v-kiniv

One great benefit that this websocket server can have over a python based on is the ability to run it as a component node in the same process as other c++ nodes to help share memory for ROS messages. So to get the best benefits of using c++ over python, consider exposing the node as a component. See https://docs.ros.org/en/humble/Concepts/About-Composition.html

Service calls rcl_interfaces

Hi @v-kiniv
Cool library!
Im trying it out a bit, pub sub works great and some service calls.
But i get a silent crash when i try to call a service with the following interface

/foo/list_parameters
rcl_interfaces/srv/ListParameters

The same goes for other services of rcl_interface types.
The line that seems failing is:

rmw_deserialize(sm, req_ts_hdl_, buf.get());

Any ideas what might cause this issue?
Do all nodes that i spawn run rmw_fastrtps_dynamic_cpp?

Library Version: ros2
ROS Version: Humble
Platform / OS: Ubuntu 22.04

Compilation fails on Humble

Hey, I just wanted to try this out since it seems like a good stopgap replacement for rosbridge, especially given how monumental moving to Foxglove's protocol would be. Unfortunately it seems to be missing some middleware dependencies on Humble? I'm not entirely sure.

I see the repo's been somewhat stale since last year, but in case there's still any maintenance planned I'd be glad to test out any fixes or ideas that may get us closer to one.

Starting >>> rws
--- stderr: rws
CMake Deprecation Warning at /home/ubuntu/colcon_ws/build/rws/_deps/websocketpp-src/CMakeLists.txt:5 (cmake_mini                                                    mum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


** websocketpp

=========== Used Build Configuration =============





In file included from /home/ubuntu/colcon_ws/src/rws/include/rws/client_handler.hpp:21,
                 from /home/ubuntu/colcon_ws/src/rws/src/client_handler.cpp:15:
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp: In constructor ‘rws::topic_params::topic_params()’:
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:40:15: warning: ‘rws::topic_params::type’ will be initi                                                    alized after [-Wreorder]
   40 |   std::string type;
      |               ^~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:36:8: warning:   ‘bool rws::topic_params::latch’ [-Wreo                                                    rder]
   36 |   bool latch;  // only for publishers, rws internal
      |        ^~~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:18:3: warning:   when initialized here [-Wreorder]
   18 |   topic_params() : history_depth(10), compression("none"), topic(""), type(""), latch(false) {}
      |   ^~~~~~~~~~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp: In constructor ‘rws::topic_params::topic_params(std::s                                                    tring, std::string)’:
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:40:15: warning: ‘rws::topic_params::type’ will be initi                                                    alized after [-Wreorder]
   40 |   std::string type;
      |               ^~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:36:8: warning:   ‘bool rws::topic_params::latch’ [-Wreo                                                    rder]
   36 |   bool latch;  // only for publishers, rws internal
      |        ^~~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:19:3: warning:   when initialized here [-Wreorder]
   19 |   topic_params(std::string t, std::string tp)
      |   ^~~~~~~~~~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp: In constructor ‘rws::topic_params::topic_params(std::s                                                    tring, std::string, size_t, std::string)’:
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:40:15: warning: ‘rws::topic_params::type’ will be initi                                                    alized after [-Wreorder]
   40 |   std::string type;
      |               ^~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:36:8: warning:   ‘bool rws::topic_params::latch’ [-Wreo                                                    rder]
   36 |   bool latch;  // only for publishers, rws internal
      |        ^~~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:23:3: warning:   when initialized here [-Wreorder]
   23 |   topic_params(std::string t, std::string tp, size_t qs, std::string c)
      |   ^~~~~~~~~~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp: In constructor ‘rws::topic_params::topic_params(std::s                                                    tring, std::string, size_t, bool)’:
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:40:15: warning: ‘rws::topic_params::type’ will be initi                                                    alized after [-Wreorder]
   40 |   std::string type;
      |               ^~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:36:8: warning:   ‘bool rws::topic_params::latch’ [-Wreo                                                    rder]
   36 |   bool latch;  // only for publishers, rws internal
      |        ^~~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:27:3: warning:   when initialized here [-Wreorder]
   27 |   topic_params(std::string t, std::string tp, size_t qs, bool l)
      |   ^~~~~~~~~~~~
In file included from /home/ubuntu/colcon_ws/src/rws/src/client_handler.cpp:15:
/home/ubuntu/colcon_ws/src/rws/include/rws/client_handler.hpp: In constructor ‘rws::ClientHandler::ClientHandler                                                    (int, std::shared_ptr<rws::NodeInterface<> >, std::shared_ptr<rws::Connector<> >, bool, std::function<void(std::                                                    __cxx11::basic_string<char>&)>, std::function<void(std::vector<unsigned char>&)>)’:
/home/ubuntu/colcon_ws/src/rws/include/rws/client_handler.hpp:46:37: warning: ‘rws::ClientHandler::connector_’ w                                                    ill be initialized after [-Wreorder]
   46 |   std::shared_ptr<rws::Connector<>> connector_;
      |                                     ^~~~~~~~~~
/home/ubuntu/colcon_ws/src/rws/include/rws/client_handler.hpp:42:8: warning:   ‘bool rws::ClientHandler::rosbrid                                                    ge_compatible_’ [-Wreorder]
   42 |   bool rosbridge_compatible_;
      |        ^~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/colcon_ws/src/rws/src/client_handler.cpp:38:1: warning:   when initialized here [-Wreorder]
   38 | ClientHandler::ClientHandler(
      | ^~~~~~~~~~~~~
In file included from /home/ubuntu/colcon_ws/src/rws/include/rws/node_interface.hpp:6,
                 from /home/ubuntu/colcon_ws/src/rws/include/rws/connector.hpp:8,
                 from /home/ubuntu/colcon_ws/src/rws/include/rws/client_handler.hpp:21,
                 from /home/ubuntu/colcon_ws/src/rws/src/client_handler.cpp:15:
/home/ubuntu/colcon_ws/src/rws/include/rws/generic_client.hpp: In member function ‘rws::GenericClient::SharedFut                                                    ure rws::GenericClient::async_send_request(rws::GenericClient::SharedRequest, rws::GenericClient::CallbackType&&                                                    )’:
/home/ubuntu/colcon_ws/src/rws/include/rws/generic_client.hpp:145:20: warning: ignoring return value of ‘rmw_ret                                                    _t rmw_deserialize(const rmw_serialized_message_t*, const rosidl_message_type_support_t*, void*)’ declared with                                                     attribute ‘warn_unused_result’ [-Wunused-result]
  145 |     rmw_deserialize(sm, req_ts_hdl_, buf.get());
      |     ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/colcon_ws/src/rws/src/serdes.cpp:18:10: fatal error: dds/ddsrt/endian.h: No such file or directory
   18 | #include "dds/ddsrt/endian.h"
      |          ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/rws_server.dir/build.make:90: CMakeFiles/rws_server.dir/src/serdes.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:231: CMakeFiles/rws_server.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< rws [3min 35s, exited with code 2]

Summary: 6 packages finished [5min 26s]
  1 package failed: rws

v-kiniv / rws Goto Github PK

rws's People

Contributors

Stargazers

Watchers

Forkers

rws's Issues

Consider different executor

Humble service calls don't return data

Doing unsubscribe unsubscribes all subscribers for a topic

Use system libraries for dependencies

Multiple concurrent clients

Standalone Component separate from main executable

Service calls rcl_interfaces

Compilation fails on Humble

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