jrosbridge

A Native Java EE rosbridge Client -- modified version which works on android

Example Usage

In order to use this library on android, compile it as jar (or use the .jar from the /build folder) and add it to your android project. The gradle dependencies should look like this:

compile files('libs/jrosbridge.jar')
compile group: 'org.glassfish', name: 'javax.json', version: '1.0.4'
compile 'org.java-websocket:Java-WebSocket:1.3.0'

Java:

public static void main(String[] args) throws InterruptedException {
	final Ros ros = new Ros("localhost");

	ros.connect(new ConnectionCallback() {
		public void onOpen(ServerHandshake serverHandshake) {
			Topic topic = new Topic(ros, "/echo_back", "std_msgs/String");
			topic.subscribe(new TopicCallback() {
				public void handleMessage(Message message) {
					System.out.println(message);
				}
			});
		}

		public void onClose(int i, String s, boolean b) {
			System.out.println("on close");
		}

		public void onError(Exception e) {
			System.out.println("on error");
			e.printStackTrace();
		}
	});
}

Kotlin:

fun main(args: Array<String>) {
	val ros = Ros("localhost")
	ros.connect(ConnectionCallback() {
		override fun onOpen(p0: ServerHandshake?) {
			val topic = Topic(ros, "/echo_back", "std_msgs/String")
			topic.subscribe(message -> run {
				println(message)
			})
		}

		override fun onClose(p0: Int, p1: String?, p2: Boolean) {
			println("on close")
		}

		override fun onError(p0: Exception?) {
			println("on error");
			p0.printStackTrace()
		}
	})
}

License

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

Authors

See the AUTHORS file for a full list of contributors.