ros-nice-api

Socket.IO, WebRTC & other API packages

This is implemented using:

• aiortc

Initial code was self-plagiarized from https://github.com/Interpause/nicepipe/commit/fd693a6638f8f08549b6a13a93d71b6bea4d6810 by @Interpause.

It might be reimplemented in the future using https://github.com/RobotWebTools/rclnodejs to utilize the NodeJS ecosystem, the native ecosystem of many APIs.

Notes

• rqt image visualizer
  • the image visualizer isn't compatible with all QoS Profiles! the default works though
    • See: https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html
  • It only supports sensor_msgs/Image not sensor_msgs/CompressedImage
    • Alternatively, use image_transport to transparently treat them all the same (but it doesn't have Python bindings...)
• https://docs.ros.org/en/foxy/Concepts/About-ROS-Interfaces.html#field-types is useful for writing interfaces
• chrome://webrtc-internals/ is your best friend!

Issues

• RobotWebTools/rosbridge_suite#744
  • Ocassionally websocket server will seem to completely freeze
  • May ocassionally spam inconsequential errors when client disconnects improperly