Kumo (雲)

Kumo (雲, cloud) is a ROS 2 package that provides a bridge server that enables communications between WebSocket applications and ROS 2 nodes.

Features

Serve ROS 2 bridge on a specified port and host.
Support Node, Publisher, Subscription, Client, and Service creation.
Support Topics and Services communication.

Requirement

ROS 2 Foxy Fitzroy.
Yakusha (for JSON serialization).
websockets.

Installation

Binary Packages

See releases for the latest version of this package.
Alternatively, this package also available on ICHIRO ITS Repository as ros-foxy-kumo package.

Build From Source

Install colcon as in this guide.
Build the project and source the result.
```
$ colcon build
$ source install/setup.bash
```
See this guide for more information on how to setup a workspace in ROS 2.

Usage

Run the bridge server using bridge program (use -h to list all available parameters).

$ ros2 run kumo bridge

Supported Client Libraries

Kumo Client (JavaScript).

License

This project is maintained by ICHIRO ITS and licensed under the MIT License.