ROSBridge client for Processing.

Just clone the repo to the libraries folder inside your Processing sketchbook and restart Processing.

1. Import the library

   import rosprocessing.*;
   

2. Create a global variable for the main library class

   ROSProcessing rp; 
   

3. Initialize the library and connect to rosbridge inside your setup()

   void setup() {
     ...
     rp = new ROSProcessing(this);
     rp.connect();
     ...
   }
   

   You can specify the hostname and port like this:

   rp = new ROSProcessing(this, "192.168.1.1", 8080);
   

   If not specified, "localhost" and port 9090 are used.

4. Subscribe to your topics using the subscribe method (e.g. also in your setup()).

   rp.subscribe("/image", "newImage");   
   

   The arguments are the topic name and the name of the event callback to be called when new data arrive.

5. Create a callback function that will receive the data and save it in a global variable.

   PImage pImage;
   void newImage(Image image) {
     pImage=image.toPImage(this);
   }
   

   The event function must take an argument of a class corresponding to the message type of the ROS topic. Currently implemented message classes are storred in the src/rosprocessing/messages folder. Sometimes, those message classes provide convenience functions for parsing the raw ROS data, as in the example above where we convert ROS data to a PImage.

6. Draw!

   void draw() {
     if (pImage!=null)
       image(pImage,0,0);
   }
   

For additional features, see the example for now.

You can find an example in the examples folder.