Node.js* Client & Web Bridge Ready for ROS* 2.0 Minggang Wang September 30 2018 Agenda ● Who We Are ● Why Use Node.js & Web in Robotics ● Thinking in “ROS 2.0 + Web” ● What We Have Done for “ROS “ROS 2.0 + Web” ● The Design of rclnodejs & ros2-web-bridge ● List of Features ● Performance Comparison: Node.js, C++ & Python ● Video Demo ● Intel Robot ● Contacts & Resource Links 2 3 Who powerful JavaScript API of ROS 2.0 ● ros2-web-bridge (github repo) Make it possible to call ROS 2.0 API in a web page. It’s compatible with roslibjs* ros2-web-bridge rclnodejs ROS 2.0 Core & DDS rcl Interface

implementations to bridge library types hpp cpp 19Part 2 - Exposing a CMake Target 20CMake With C++ Interop Layer Rust Library with Unsafe 21include(FetchContent) FetchContent_Declare( bridge GIT_REPOSITORY GIT_REPOSITORY https://github.com/you/bridge GIT_TAG main SOURCE_SUBDIR "crates/bridge-cpp") FetchContent_MakeAvailable(bridge) target_link_libraries(mytarget PRIVATE bridge::bridge) 22├── Cargo.toml ├── README README.md └── crates ├── bridge │ ├── Cargo.toml │ └── src │ └── lib.rs └── bridge-cpp ├── Cargo.toml ├── CMakeLists.txt ├── cmake │ └── bridgeConfig.cmake.in

Grouping 31. Extra Acknowledge Modes 32. Management 33. Security 34. Resource Limits 35. The JMS Bridge 36. Client Reconnection and Session Reattachment 37. Diverting and Splitting Message Flows 38 Documentation 10 Messaging Concepts connections like a wide area network (WAN), or the internet. A bridge normally consumes from a queue on one server and forwards messages to another queue on a different session will be lost, and any unacknowledged messages might be redelivered. The bridge example demonstrates a core bridge deployed on one server, which consumes messages from a local queue and forwards

Grouping 31. Extra Acknowledge Modes 32. Management 33. Security 34. Resource Limits 35. The JMS Bridge 36. Client Reconnection and Session Reattachment 37. Diverting and Splitting Message Flows 38 Documentation 10 Messaging Concepts connections like a wide area network (WAN), or the internet. A bridge normally consumes from a queue on one server and forwards messages to another queue on a different session will be lost, and any unacknowledged messages might be redelivered. The bridge example demonstrates a core bridge deployed on one server, which consumes messages from a local queue and forwards

Grouping 31. Extra Acknowledge Modes 32. Management 33. Security 34. Resource Limits 35. The JMS Bridge 36. Client Reconnection and Session Reattachment 37. Diverting and Splitting Message Flows 38 Documentation 10 Messaging Concepts connections like a wide area network (WAN), or the internet. A bridge normally consumes from a queue on one server and forwards messages to another queue on a different session will be lost, and any unacknowledged messages might be redelivered. The bridge example demonstrates a core bridge deployed on one server, which consumes messages from a local queue and forwards

Queues Message Grouping Extra Acknowledge Modes Management Security Resource Limits The JMS Bridge Client Reconnection and Session Reattachment Diverting and Splitting Message Flows Core Bridges together, typically over unreliable connections like a wide area network (WAN), or the internet. A bridge normally consumes from a queue on one server and forwards messages to another queue on a different and any unacknowledged messages might be redelivered. Core Bridge Example Examples 56 The bridge example demonstrates a core bridge deployed on one server, which consumes messages from a local

Queues Message Grouping Extra Acknowledge Modes Management Security Resource Limits The JMS Bridge Client Reconnection and Session Reattachment Diverting and Splitting Message Flows Core Bridges together, typically over unreliable connections like a wide area network (WAN), or the internet. A bridge normally consumes from a queue on one server and forwards messages to another queue on a different and any unacknowledged messages might be redelivered. Core Bridge Example Examples 56 The bridge example demonstrates a core bridge deployed on one server, which consumes messages from a local

Queues Message Grouping Extra Acknowledge Modes Management Security Resource Limits The JMS Bridge Client Reconnection and Session Reattachment Diverting and Splitting Message Flows Core Bridges together, typically over unreliable connections like a wide area network (WAN), or the internet. A bridge normally consumes from a queue on one server and forwards messages to another queue on a different and any unacknowledged messages might be redelivered. Core Bridge Example Examples 56 The bridge example demonstrates a core bridge deployed on one server, which consumes messages from a local

Queues Message Grouping Extra Acknowledge Modes Management Security Resource Limits The JMS Bridge Client Reconnection and Session Reattachment Diverting and Splitting Message Flows Core Bridges together, typically over unreliable connections like a wide area network (WAN), or the internet. A bridge normally consumes from a queue on one server and forwards messages to another queue on a different and any unacknowledged messages might be redelivered. Core Bridge Example Examples 56 The bridge example demonstrates a core bridge deployed on one server, which consumes messages from a local

Queues Message Grouping Extra Acknowledge Modes Management Security Resource Limits The JMS Bridge Client Reconnection and Session Reattachment Diverting and Splitting Message Flows Core Bridges together, typically over unreliable connections like a wide area network (WAN), or the internet. A bridge normally consumes from a queue on one server and forwards messages to another queue on a different and any unacknowledged messages might be redelivered. Core Bridge Example Examples 56 The bridge example demonstrates a core bridge deployed on one server, which consumes messages from a local