ROS WebSocket Server

RWS provides WebSocket interface to ROS2. It is partially* compatible with Rosbridge v2 protocol and can be used as a drop-in replacement. The main difference with Rosbridge is that RWS is written is C++, hence it's more fast and memory efficient, however ROS1 is not supported.

* Not all Rosbridge operations supported, check compatability section below for more information.

For general information regarding the protocol, check Rosbridge protocol description.

Usage

Clone RWS into your workspace source directory:

cd your_workspace_dir/src
git clone https://github.com/v-kiniv/rws.git
# Build your workspace using colcon, as usual

Launch using launch script provided by the package:

# source your workspace
ros2 launch rws rws_server_launch.py

Or add rws_server node to your own launch script:

rws_server_node = Node(
	package='rws',
	executable='rws_server',
	name='rws_server',
	output='screen',
	parameters=[{
	  # ...
	}]
)

Parameters

• port - port to use for websocket server. 9090 by default.
• rosbridge_compatible - enable compatibility with rosbridge protocol. Currently the only difference is that stamp->nanosec field in all messages will be renamed to stamp->nsec. True by default.
• watchdog - use ping/pong to detect and drop unresponsive clients that keep TCP connection open. True by default.

Rosbridge compatability

Operations

| Operation | RWS | Rosbridge | Description| | --- | --- | --- | --- | | advertise | + | + | Advertise topic | | unadvertise | + | + | Stop advertising topic | | publish | + | + | Publish to topic | | subscribe | + | + | Subscribe to topic | | unsubscribe | + | + | Unsubscribe from topic | | call_service | + | + | Call service | | advertise_service | - | + |Advertise external service | | unadvertise_service | - | + | Stop advertising external service | | service_request | - | + | Request to external service | | service_response | - | + | Response from external service |

Fragmentation

Message fragmentation is not supported in RWS

Compression

| Algorithm | RWS | Rosbridge | | --- | --- | --- | | CBOR-RAW | + | + | | CBOR | + | + | | BSON | + | + | | MessagePack | + | - | | UBJSON | + | - | | BJData | + | - |

Rosapi service calls

Unlike Rosbridge, RWS does not expose /rosapi node, all rosapi related API requests are handled internally in rws_server node.

Check the list of implemented rosapi services in https://github.com/v-kiniv/rws/issues/49#issue-2839982035

Dependencies

RWS is using websocketpp, asio and nlohmann/json. These 3 libraries will be fetched by CMake during configuration step.

Motivation behind RWS

In my experiece, Rosbridge does not work well with the second version of ROS. Seems like Rosbridge developers mainly focused on ROS1 support, and ROS2 is handled on a best effort basis(for example, check this issue). I'm experiencing severe memory leaks(~1 GB of memory per day), high CPU usage, on a device like Raspberry Pi it's a problem. It's also not very stable and sometimes crashes if multiple clients reconnect rapidly. My first intention was to fix ROS2 support in Rosbridge. I started by collecting all non-merged fixes from other people and trying to add my own, some progress was made, but the server was still CPU hungry(even though less leaky and more stable), so I decided that C++ is more appropriate than Python, for this kind of task.

Performance

Here is the data from htop command output from a Raspberry Pi 4B(4GB version) running the following stack:

• ROS2 Galactic
• Rosbridge(as of this commit) node
• iRobot Create 2 nodes
• Lidar driver node(RPLidar A1)
• IMU driver node(BNO055)

Client is a Mac running Ventura and Foxglove Studio(v1.32.0) subscibed to 7x20Hz and 3x1Hz topics(plots with IMU data, odometry, etc.).

| Process | CPU Usage | Memory Usage(initial) | | --- | --- | --- | | rosbridge_server | 57.4% | 59 MB | | rws_server | 12.8% | 18 MB |

This is not a benchmark by any means, and is intended to demostrate that there is a difference in performance with my setup. I encourage you to try RWS with your setup and draw conslusion based on that.