JarCastingjrosbridge 
A Native Java EE rosbridge Client
Example Usage
To include this library, use the following in your Maven configuration:
<dependency>
<groupId>edu.wpi.rail</groupId>
<artifactId>jrosbridge</artifactId>
<version>0.2.0</version>
</dependency>
public static void main(String[] args) throws InterruptedException {
Ros ros = new Ros("localhost");
ros.connect();
Topic echo = new Topic(ros, "/echo", "std_msgs/String");
Message toSend = new Message("{\"data\": \"hello, world!\"}");
echo.publish(toSend);
Topic echoBack = new Topic(ros, "/echo_back", "std_msgs/String");
echoBack.subscribe(new TopicCallback() {
@Override
public void handleMessage(Message message) {
System.out.println("From ROS: " + message.toString());
}
});
Service addTwoInts = new Service(ros, "/add_two_ints", "rospy_tutorials/AddTwoInts");
ServiceRequest request = new ServiceRequest("{\"a\": 10, \"b\": 20}");
ServiceResponse response = addTwoInts.callServiceAndWait(request);
System.out.println(response.toString());
ros.disconnect();
}
License
jrosbridge is released with a BSD license. For full terms and conditions, see the LICENSE file.
Authors
See the AUTHORS file for a full list of contributors.