ros_networktables_bridge_host

ros_networktables_bridge_host is a ROS package that bridges ROS (Robot Operating System) to the roboRIO using NetworkTables and JSON formatted NT entries. This project aims to provide a seamless integration between FRC (FIRST Robotics Competition) robots using WPILib and ROS, enabling advanced robot control, sensor integration, and autonomy. It's a cousin project to the Java client https://github.com/frc-88/ROSNetworkTablesBridge

Features

• Connects WPILib-based FRC robots with ROS using NetworkTables
• Uses JSON formatted NT entries for standardized communication
• Supports custom and standard ROS messages

Prerequisites

• ROS environment setup (tested with ROS Noetic)
• rosbridge_library
• pynetworktables version 2021.0.0

Installation

rosbridge_suite

From apt

• run sudo apt-get install ros-noetic-rosbridge-suite

From source

• Clone it into your workspace:

git clone https://github.com/RobotWebTools/rosbridge_suite.git -b ros1

• Clone into your catkin workspace:

git clone https://github.com/frc-88/ros_networktables_bridge_host.git

• Rebuild the workspace: catkin_make

Python dependencies

cd path/to/ros_networktables_bridge_host
pip3 install -r requirements.txt

Example usage

• Create a launch file:

<?xml version="1.0" encoding="UTF-8"?>
<launch>
    <include file="$(find ros_networktables_bridge_host)/launch/nt_client.launch">
        <arg name="nt_host" value="10.0.88.2"/>
    </include>
</launch>

• This is an example where the team number is 88

• Launch the node: roslaunch path/to/your/file.launch

Contributing

Contributions are welcome! Please follow the guidelines in the CONTRIBUTING.md file in https://github.com/frc-88/ROSNetworkTablesBridge