├── .github ├── ISSUE_TEMPLATE.md ├── dependabot.yml └── workflows │ ├── ci.yml │ └── stale.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .vscode ├── extensions.json └── settings.json ├── AUTHORS.md ├── LICENSE ├── QUALITY_DECLARATION.md ├── README.md ├── ROSBRIDGE_PROTOCOL.md ├── TROUBLESHOOTING.md ├── pyproject.toml ├── rosapi ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── mapping_rules.yaml ├── package.xml ├── scripts │ └── rosapi_node ├── src │ └── rosapi │ │ ├── __init__.py │ │ ├── async_helper.py │ │ ├── glob_helper.py │ │ ├── objectutils.py │ │ ├── params.py │ │ ├── proxy.py │ │ └── stringify_field_types.py └── test │ ├── __init__.py │ ├── test_stringify_field_types.py │ └── test_typedefs.py ├── rosapi_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ └── TypeDef.msg ├── package.xml └── srv │ ├── ActionFeedbackDetails.srv │ ├── ActionGoalDetails.srv │ ├── ActionResultDetails.srv │ ├── ActionType.srv │ ├── DeleteParam.srv │ ├── GetActionServers.srv │ ├── GetParam.srv │ ├── GetParamNames.srv │ ├── GetROSVersion.srv │ ├── GetTime.srv │ ├── HasParam.srv │ ├── Interfaces.srv │ ├── MessageDetails.srv │ ├── NodeDetails.srv │ ├── Nodes.srv │ ├── Publishers.srv │ ├── ServiceNode.srv │ ├── ServiceProviders.srv │ ├── ServiceRequestDetails.srv │ ├── ServiceResponseDetails.srv │ ├── ServiceType.srv │ ├── Services.srv │ ├── ServicesForType.srv │ ├── SetParam.srv │ ├── Subscribers.srv │ ├── TopicType.srv │ ├── Topics.srv │ ├── TopicsAndRawTypes.srv │ └── TopicsForType.srv ├── rosbridge_library ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ └── conf.py ├── package.xml ├── src │ └── rosbridge_library │ │ ├── __init__.py │ │ ├── capabilities │ │ ├── __init__.py │ │ ├── action_feedback.py │ │ ├── action_result.py │ │ ├── advertise.py │ │ ├── advertise_action.py │ │ ├── advertise_service.py │ │ ├── call_service.py │ │ ├── defragmentation.py │ │ ├── fragmentation.py │ │ ├── publish.py │ │ ├── send_action_goal.py │ │ ├── service_response.py │ │ ├── subscribe.py │ │ ├── unadvertise_action.py │ │ └── unadvertise_service.py │ │ ├── capability.py │ │ ├── internal │ │ ├── __init__.py │ │ ├── actions.py │ │ ├── cbor_conversion.py │ │ ├── exceptions.py │ │ ├── message_conversion.py │ │ ├── outgoing_message.py │ │ ├── pngcompression.py │ │ ├── publishers.py │ │ ├── ros_loader.py │ │ ├── services.py │ │ ├── subscribers.py │ │ ├── subscription_modifiers.py │ │ ├── topics.py │ │ └── type_support.py │ │ ├── protocol.py │ │ ├── rosbridge_protocol.py │ │ └── util │ │ ├── __init__.py │ │ └── ros.py └── test │ ├── __init__.py │ ├── capabilities │ ├── __init__.py │ ├── test_action_capabilities.py │ ├── test_advertise.py │ ├── test_call_service.py │ ├── test_publish.py │ ├── test_service_capabilities.py │ └── test_subscribe.py │ ├── experimental │ ├── complex_srv+tcp │ │ ├── test_non-ros_service_client_complex-srv.py │ │ └── test_non-ros_service_server_complex-srv.py │ └── fragmentation+srv+tcp │ │ ├── test_non-ros_service_client_fragmented.py │ │ └── test_non-ros_service_server_fragmented.py │ ├── internal │ ├── __init__.py │ ├── actions │ │ └── test_actions.py │ ├── publishers │ │ ├── __init__.py │ │ ├── test_multi_publisher.py │ │ └── test_publisher_manager.py │ ├── services │ │ └── test_services.py │ ├── subscribers │ │ ├── __init__.py │ │ ├── test_multi_subscriber.py │ │ ├── test_subscriber_manager.py │ │ └── test_subscription_modifiers.py │ ├── test_cbor_conversion.py │ ├── test_compression.py │ ├── test_message_conversion.py │ ├── test_outgoing_message.py │ └── test_ros_loader.py │ └── test_all.test ├── rosbridge_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── ConnectedClient.msg │ └── ConnectedClients.msg └── package.xml ├── rosbridge_server ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ └── rosbridge_websocket_launch.xml ├── package.xml ├── scripts │ ├── rosbridge_websocket │ └── rosbridge_websocket.py ├── src │ └── rosbridge_server │ │ ├── __init__.py │ │ ├── client_manager.py │ │ └── websocket_handler.py └── test │ └── websocket │ ├── advertise_action.test.py │ ├── advertise_action_feedback.test.py │ ├── advertise_service.test.py │ ├── advertise_service_duplicate.test.py │ ├── best_effort_publisher.test.py │ ├── call_service.test.py │ ├── common.py │ ├── multiple_subscribers.test.py │ ├── multiple_subscribers_raw.test.py │ ├── send_action_goal.test.py │ ├── smoke.test.py │ └── transient_local_publisher.test.py ├── rosbridge_suite ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── rosbridge_test_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── action │ ├── TestEmpty.action │ ├── TestFeedbackAndResult.action │ ├── TestGoalAndResult.action │ ├── TestGoalFeedbackAndResult.action │ ├── TestGoalOnly.action │ ├── TestMultipleGoalFields.action │ └── TestResultOnly.action ├── msg │ ├── Num.msg │ ├── TestChar.msg │ ├── TestDurationArray.msg │ ├── TestFloat32Array.msg │ ├── TestFloat32BoundedArray.msg │ ├── TestHeader.msg │ ├── TestHeaderArray.msg │ ├── TestHeaderTwo.msg │ ├── 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