ROSMCT (Robot Operating System Mission Control Technologies)

ROSMCT is a data visualization and telemetry system for ROS built on nasa's Open MCT. ROSMCT communicates to a rosbridge node using roslibjs. ROSMCT then uses the open mct platform to display and interact with the system.

Architecture

ROSMCT consists of several distinct components

1. A rosbridge node running on the same roscore as the system of interest
2. A realtime server that manages the collection of ros systems, subscription of topics, and communication with openmct clients
3. A rosmct plugin used by openmct when clients connect that allows ros topics to be parsed by rosmct

todo: graphic representation of ros mct architecture

Rosbridge

ROS wiki page: wiki.ros.org/rosbridge_suite rosbridge github: https://github.com/RobotWebTools/rosbridge_suite rosbridge protocoal: https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md

Rosbridge runs on the local ros system and acts a a websocket server to translate ROS-to-JSON and JSON-to_ROS with remote systems. The main functions of rosbridge utilized by rosmct are to:

1. Query all available topics in the system
2. Allow web clients to subscribe to a topic in the system
3. (TODO) Allow web clients to publish to a topic in the system

TODO: configuring the server-side connection between the realtime server and rosbridge (order of deployment, url/port, etc)

Roslibjs

todo

Real-time Server

todo

Ros System

todo

Ros System Collection

todo

Open MCT Client

todo

ROS MCT Plugin

todo

Dictionary Specification

todo