rospy_websocket_client

Publish/Subscribe topic via rosbridge websocket server

Requirement

Python 3.7+
ROS 1 (tested in melodic and noetic)
- Ubuntu 18.04 should install python3.7 since it has python3.6 in default
- Ubuntu 20.04 has python3.7+, so you can execute with python3 instead of python3.7

apt packages

sudo apt-get install ros-$ROS_DISTRO-rospy-message-converter
sudo apt-get install ros-$ROS_DISTRO-rosbridge-server

python packages

python3.7 -m pip install websocket-client

Firewall setting (for PC runs rosbridge_websocket)
```
sudo ufw allow 9090
```
ping to check if two PCs are connected

[PC 1] (ROS melodic)

roslaunch rosbridge_server rosbridge_websocket.launch --address:="$(PC 1's ip address)"

python3.7 pub_client.py -i $(PC 1's ip address)

[PC 2] (ROS noetic)

roscore

python3 sub_client.py -i $(PC 1's ip address)