Using the Ros-Rest-bridge

Building Docker image

• docker build -t ros-rest-bridge .

Running Docker image

• docker run -p 8080:8080 -e "LOG_TO_CONSOLE=true" ros-rest-bridge

Testing the bridge

In order to test with automated python scripts

• In order to attach to the running docker

  • docker exec -it [docker_id] /bin/bash (may get the docker_id by running docker ps command)

• Inside the docker container may run

  • python3 example/Subscriber.py topic_a topic_b
    • Topics to subscribe need to be added to the command
  • python3 example/Publisher.py topic_a topic_b
    • Topics to Publish need to be added to the command
    • Will randomly generate msgs to topics
  • source /opt/ros/$ROS_DISTRO/setup.bash && python3 example/Publish_to_ros.py
    • Will create a ROS publisher, will publish directly to ROS, not through the bridge
    • Will publish in 5 FPS random msg to first_topic

The package can be tested manually using the browsers GET & POST commands