ROS Web Working Group Meeting Notes

ROS Web Working Group
NOTE: We have discontinued this meeting in favor

of the Foxglove Community Meetup, which you can
join here.
Important links:
● Website
● Charter / Community / Governance
● Mailing List
● Backlog / Roadmap [TODO link]
● Meeting Recordings
● Calendar Invite / Meeting Link
● Chat room (invite)
[TEMPLATE] YYYY-MM-DD Meeting Notes

Agenda:
● Attendance (ask someone not running agenda to fill this in)
● Last meeting action items review
● Community PRs / Governance updates
○ https://github.com/RobotWebTools/community/pulls
● Discussion topics (everyone add here!)
● Backlog grooming
○ https://github.com/RobotWebTools/rosbridge_suite/pulls
● Decide: Is there a meeting next time? If not, cancel the calendar invite
● Copy notes template for next meeting
Notes
Action Items
2022-08-25 Meeting Notes

Agenda:
● Roman is working on new TypeScript rosbridge-client
https://github.com/foxglove/studio/pull/4240
● Marco Antonio Arruda
○ https://github.com/EESC-LabRoM/rosweb
● Christian
○ New Kiwibot rosboard-client package mentioned on Discourse
● Adrian
○ Update on future of this meeting: Discontinue “web working group” meetings for
now, due to lack of contributions from non-Foxglove employees.
○ New Foxglove community meetup

Agenda:
○ (Adrian) Message definitions at runtime for next ROS 2 distro (Iron)
■ Had discussion with Audrow/William, proposal is REP-2011
○ Future of this meeting
■ Probably focus on web connectivity
■ Move to monthly since attendance is low
Notes
Action Items

Agenda:
● START THE MEETING RECORDING!
○ Last meeting’s discussion
■ Merge with tooling WG?
● One vote for no; little movement
■ Robot connectivity from browsers as a direction
● More targeted
○ (audrow) Message definitions at runtime for next ROS 2 distro (Iron)
■ Description
■ Definition of done
■ Context: https://github.com/ros2/ros2/issues/1159
Notes
Action Items
2022-06-30 Meeting notes

Agenda:
● START THE MEETING RECORDING! (no recording this meeting)
○ Roman: I propose that we re-focus the group on robot connectivity from
browsers.
Action items:
- Roman: should we merge with the tooling working group?
- Paul: would vote to avoid merging
- Paul: loves the original message of working with the web easier

No attendance

Agenda:
○ Christian Fritz (Transitive Robotics)
○ Roman Shtylman (Foxglove)
○ Jacob Bandes-Storch (Foxglove)
○ Paul Mandel (and cat) (Canvas Construction)
○ [Christian] I’ve got us a channel on ROS discord, invite in the links section above.
○ [Roman] rosbridge ros1 performance
■ Foxglove did some research on this and learned that ros1 rosbridge
de-serializes and re-serializes incoming messages even when using
cbor-raw which is meant to send serialized data in ROS serialization
format.
2022-04-07
- Cancelled

Agenda:
○ Adrian (Foxglove)
○ Audrow Nash (Open Robotics)
○ Dheera Venkatraman (Rosboard)
○ John Hurliman (Foxglove)
○ Darrell DeCosta (Foxglove)
○ [Christian] webtools.ros.org
■ Tully is happy to set up the ros.org sub domain for us
■ Adrian will email Brandon Alexander regarding robotwebtools.org
○ [Adrian] Rosbridge CI is failing (rolling) - need volunteers
○ [John] Parameter support in rosbridge
■ People are in agreement we should add this
■ No one currently working on it
● Backlog grooming [TODO link]
Notes
Action Items

Agenda:
○ [Adrian] webtools.ros.org can happen as soon as anyone has time for it
○ MCAP is ready for testing, ROS 2 plugin is under development
■ ROS 2 Humble feature freeze April 4, branch April 18
Notes
Action Items

Agenda:
○ Sachin Kumar
○ [Adrian] webtools.ros.org is ready as soon as we create a website for it
○ (audrow) Small updates at Open Robotics => moving more towards web tech
■ Getting a couple interns to work on System Viewer Foxglove extension
■ Building static analyzer reporter tool with web tools (Node + React)
■ Building various automation tools using web tools (Node)
Notes
Action Items

Agenda:
○ Dheera Venkatraman (Rosboard)
○ Robotwebtools.org domain
■ Want to migrate this to webtools.ros.org
■ Adrian created https://github.com/RobotWebTools/community/issues/14 to
see if we can find out who owns current domain
■ Also try emailing owner@robotwebtools.org.whoisprivacyservice.org
○ [from last time]
■ Remove auth from ROS 2 spec
■ Discuss ROS 2 auth PR
(https://github.com/RobotWebTools/rosbridge_suite/pull/676)
○ [Adrian] Proposal for next steps on working group ownership clarity
■ Create new site for webtools.ros.org (github pages)
■ Move rosbridge_suite repo into ros-webtools org
■ Move community charter into ros-webtools org and update charter to
reflect packages we actually own
■ Let’s discuss this again next time
Notes
Action Items
● Adrian find out about ros2 github org
● Roman update rosbridge spec to remove authentication, cross-link between ros1 and
ros2 branches (PR)

Agenda:
○ Wayne Parrott (Genuitec)
○ Benjamin Perseghetti (Rudis Labs)
○ Sachin Kumar
○ [Roman]:
https://github.com/RobotWebTools/roslibjs/issues/504#issuecomment-100967152
6
■ Website is combined from org page + project pages
○ [Adrian] new github org name
■ ros-webwg? vs ros-webtools and webtools.ros.org (voted webtools)
○ [Christian] Can we add rosnodejs to http://robotwebtools.org/?
○ ROS library battle
■ rosnodejs - Pure JS (node.js) implementation of ROS 1 (using
TCPROS/UDPROS)
■ @foxglove/ros1 - Pure JS (node.js + electron) implementation of ROS 1
■ rclnodejs - ROS 2 RCL C bindings in javascript
■ @foxglove/ros2 - ROS 2 implemented in pure JS (node.js)
■ roslibjs - Client for rosbridge_server with some extra stuff
○ Consensus to more clearly identify on the new website which projects are under
community governance
Notes
Action Items
● Adrian to reach out about web.ros.org CNAME
○ Contact: Tully
● Christian to create PR to add rosnodejs to robotwebtools.org
○ Done: https://github.com/RobotWebTools/robotwebtools.github.io/pull/78

Agenda:
○ Adrian, Roman, Jacob (Foxglove)
○ Audrow (Open Robotics)
○ http://robotwebtools.org/ is updated
○ https://github.com/ros-web is not responding to us, but
https://github.com/ros-webtools is available
○ https://github.com/foxglove/ws-protocol is now live (rosbridge equivalent for
non-ROS robots)
○ New TF interpolation in Foxglove - potentially could be extracted into a library
○ web.ros.org is available
○ Let’s move back to morning meeting times
Notes
Action Items
● Adrian to move back to morning meeting time (done)
● Adrian to reach out about web.ros.org CNAME
○ After that - can announce on ROS blog

Agenda:
○ Adrian, Audrow, Jacob, John, Roman
○ [Roman] Consider web.ros.org or something for our homepage?
Notes
Action Items
● Audrow to check if web.ros.org is available

Agenda:
○ Adrian Macneil (Foxglove)
○ Emerson Knapp (AWS)
○ Wayne Parrott
○ Wayne: forking standard node module
■ Try to land upstream, if not we can publish a forked module
○ Adrian: Path forward for rosbridge vs ros2-web-bridge
○ Time of this meeting? Can we accommodate China + US? Is excluding EU
timezones ok? Or should we alternate?
■ Moved to 4pm PT starting Dec 2, 2021
Notes
Action Items
● Adrian: Add disclaimer to ros2-web-bridge that it is not officially supported
● Ask minggang whether he would prefer to archive ros2-web-bridge or migrate it under
personal github account

Agenda:
○ Esther Weon (Foxglove)
○ [Adrian] https://github.com/RobotWebTools/ros2-web-bridge - should we link to
rosbridge_suite, and explain the different approaches somewhere?
○ Let’s try to add rosbridge_suite and rclnodejs to REP 2005
https://github.com/ros-infrastructure/rep/blob/master/rep-2005.rst
○ Discussed rosbridge_suite/issues/650
Notes
Action Items
- Roman to archive tf2_web_republisher/issues/34 and depthcloud_encoder/issues/17
- Note: add deprecation notice to README and
- Emerson (and others) Take time for reviewing rosbridge_suite PRs!
- Wayne to reach out to https://github.com/minggangw regarding ros2-web-bridge
- Adrian to explore REP 2004 quality level declaration for rosbridge_suite and rclnodejs
- Emerson to create PR for inclusion in REP 2005
- Emerson to take a look at rosbridge_suite/issues/650, too.

Agenda:
○ Call for PR reviews on rosbridge
○ Recording file format discussion
■ More suited for ROS-Tooling meeting tomorrow, but FYI
○ [Roman] How long to give these before archiving?
■ https://github.com/RobotWebTools/tf2_web_republisher/issues/34
■ https://github.com/RobotWebTools/depthcloud_encoder/issues/17
■ Decided to time-box waiting on a response in 30 days from issue creation.
If no response in 30 days, we will archive the repo
○ Previous action items
Notes
Action Items
● Archive dead repos per above comment

Note from emerson: sorry I am running late, I will start the conference, and feel free to start
discussing without me
Agenda:
○ [Roman] Archive Repositories:
■ https://github.com/RobotWebTools/roslibjs_integration_tests
■ https://github.com/RobotWebTools/mjpeg_server
■ https://github.com/RobotWebTools/ros_web_video
■ https://github.com/RobotWebTools/rwt_dockers [todo: archive]
■ https://github.com/RobotWebTools/starter-template [todo: archive]
■ https://github.com/RobotWebTools/robot_web_tools [todo: archive]
■ https://github.com/RobotWebTools/interactive_marker_proxy [todo:
archive]
■ https://github.com/RobotWebTools/tf2_web_republisher ? seems maybe
still used
■ https://github.com/RobotWebTools/depthcloud_encoder ? seems maybe
still used?
○ [Roman] https://github.com/RobotWebTools/roslibjs/issues/474
○ [Christian] Demo and request for feedback, https://transitiverobotics.com
○ Backlog grooming [TODO link]
Notes
Action Items
See if we can get access to ros-web and rosweb on Github [Adrian]
Update Robot Web Tools site [Roman]
Archive repos marked as TODO: archive above [Adrian]
Update community/README.md to remove archived projects [Roman]
https://github.com/RobotWebTools/community/pull/11
Ask tf2_web_republisher maintainer if the project can be archived [Roman]
https://github.com/RobotWebTools/tf2_web_republisher/issues/34
Review/merge https://github.com/RobotWebTools/roslibjs/pull/475 [Roman]
Post on https://github.com/RobotWebTools/roslibjs/issues/474 more concrete plan for
motivation, separating libraries, and migration path [Roman]
Ask Jihoon if he is willing to move to his private github account
https://github.com/RobotWebTools/depthcloud_encoder (or are you even still maintaining
it and want us to archive it?) [Roman]
https://github.com/RobotWebTools/depthcloud_encoder/issues/17

Agenda:
● Start the meeting recording!
○ Jacob (Foxglove)
○ Roman (Foxglove)
○ Emerson (AWS)
○ Christian (Transitive Robotics)
○ Dheera (Rosboard)
○ Sachin Kumar
● Discussion topics
○ Rosbridge renaming:
■ Emerson to open discourse post to get community feedback.
■ Reason to do this: ros1_bridge confusion
○ [Roman] RosBridge Suite Update
■ [Jacob] All good for the next sync (galactic)
■ Failing to build in Rolling, blocked by
https://github.com/ros2/rosidl_python/issues/141
○ Rosbridge CI
■ Potentially use setup-ros-docker containers instead of setup-ros
■ Don’t use “required-distribution” - so that it doesn’t install binaries
○ [Roman] Rosbridge Client Repo (split websocket logic from roslibjs)
■ Roslibjs has websocket client, actions, urdf, etc. - simplify into more
atomic components
■ Release components on NPM
■ Foxglove most invested in this splitting
○
Notes
Action Items
Update issue template (use .github repo trick to share across projects) [Adrian]
https://github.com/RobotWebTools/.github
See if we can get access to ros-web and rosweb on Github [Adrian]
Extract websocket logic for rosbridge connectivity to separate package [Roman]
Start with messaging the roslibjs maintainers
Update Robot Web Tools site [Roman]
Keep reference to original robot web tools paper
Remove TCP + UDP support from rosbridge #639

Agenda:
○ [Adrian] Where to direct user Q&A discussions?
■ Rosbridge repo is overrun with “help wanted” questions like #576 #619
#626 #632 and other non-reproducible bugs
■ Stale issues have been flagged for closure (#590)
■ In our issue template we should more explicitly tell people where to ask
for help, and reserve github issues for actionable bugs or feature requests
(our issue template already says this, but it clearly needs to be more
explicit)
■ Options: ROS Discourse, ROS Answers, Github Discussions (which do
we prefer?)
○ [Adrian] rosbridge vs ros1_bridge naming confusion (e.g. #549)
■ Should we consider renaming rosbridge for ros 2 to something else to
reduce confusion?
■ Candidates
● Ros-web-bridge
● rwtp (ros web transport protocol)
● ros-JSON as a name for the protocol?
○ [Adrian] “RobotWebTools” Github org name
■ Should we consider something following the format set by other ROS
repos? E.g. “ros-web” (Github name is already taken but we might be able
to acquire it)
○ [Jacob] Rosbridge failed in latest Galactic sync
■ Unfortunately there was a missing dep for rosbridge so it wasn’t included
in the Galactic sync
■ Foxy sync hasn’t happened yet
○ [Jacob] TCP and UDP support in ros2 rosbridge is broken
■ Unclear what the purpose of these is
■ No one is using this in ros 2 because they don’t work
■ Bad having broken entrypoints available
○ [John] rtps typescript implementation is making progress
■ https://github.com/foxglove/rtps
Notes
Action Items
Update issue template (use .github repo trick to share across projects)
Close “Q&A” issues and redirect people to answers.ros.org
Submit ideas for rosbridge rename (would need to do before Humble freeze in March
2022)
See if we can get access to ros-web and rosweb on Github
Update meeting invite to link this document
Audrow to see if we can get a one-off sync for rosbridge
Remove TCP + UDP support from rosbridge

Agenda:
○ Dheera Venkatraman
○ Yongzhou Zhang
○ wh0am1
○ [Dheera] recent improvements in ROSboard
■ Custom websocket implementation details
● Ideas for features a common websocket library might want to have
● Compression of large topics (PointCloud2, Image,
CompressedImage)
● Efficient transfer and encoding/decoding of binary data on both
sides
● Websocket timestamps on all messages, even messages that
don’t have a timestamp
● Detecting conditions and dropping messages when
○ Bandwidth is low and there accumulates an
ever-increasing backlog of outgoing messages
○ Client CPU usage is high and can’t keep up
○ Server CPU usage is high and can’t keep up
● Measure latency and clock difference between server and client to
provide proper QoS for client->server publishing
■ WebRTC bridge?
○ [Dheera] How hard is a C++ implementation of the websocket bridge?
○ [Roman] rosbridge_suite release status update
○ [Roman] ros2 library progress
○ [Audrow] Features that you’d like to see for ROS 2 Humble? (I’m the ROS Boss
for Humble.)
■ Still iterating on ROS 2 Humble roadmap (PR)
■ Feel free to email me ideas: audrow@openrobotics.org, or schedule a
meeting with me here: https://calendly.com/audrow/25min
● Ideally, send motivation and description of what should be done
○ [Audrow] Starting a podcast with Open Robotics - WebTool interview ideas?
■ See email and calendly above to contact me
Notes
● Why not use CBOR-raw on the bridge? Instead of json
○ Sends binary payload instead of more verbose json
○ https://cbor.io/impls.html
○ https://github.com/RobotWebTools/rosbridge_suite/pull/574
○
Action Items
● Call for presenters on Discourse
● Release rosbridge_suite into Foxy, Galactic, Rolling

Agenda:
○ Adrian Macneil, Roman Shtylman (Foxglove)
○ Audrow Nash (Open robotics)
○ Joe Schornak (PickNik)
○ Mehrdad Mansouri (siemens munich)
○ Peter So (PhD student Munich school of robotics, robothon grand challenge)
○ Vishal (Independent | Open Source)
○ Sachin Kumar
○ Dheera Venkatraman (rosboard)
○ Community roles & project ownership
■ Roles are described in our charter but we have not yet defined who maps
to each role
■ Need clarity on who can merge PRs for each project, and who can grant
merge authority
○ Unified ROS websocket node/library
■ Need a standardized library
● Could consider websocket alternatives: http/2, webrtc, gRPC
■ Side note: webrtc for compressing pointclouds (unsupported), passing
video (well supported), datachannel for other data
■ [Adrian] Need to define scope + roles for this effort. Maybe a sub-working
group?
■ [Jacob] https://github.com/RobotWebTools/rosbridge_suite/pull/574
■ [Roman] Can we merge both existing “websocket bridge” packages?
https://github.com/RobotWebTools/ros2-web-bridge/issues/146#issuecom
ment-881556442
● Rosbridge_suite has a ROS2 implementation (Python)
● Ros2-web-bridge was started after, has nodeJS implementation
● We would like to have one clear choice for users - and it needs to
be easy to install like any other ROS pkg
● Alternative perspective: npm is a fully featured package manager,
could be installed and handle your whole application, build
on-device for cross-platform compatibility
■ [Adrian] Rosboard also has a custom websocket server due to
shortcomings in the two existing websocket libraries (see FAQ), @dheera
are you interested in merging effort?
○ [Dheera] improvements in ROSboard, websocket implementation details, ideas
for features a common websocket library might want to have
● Compression of large topics (PointCloud2, Image,
CompressedImage)
● Efficient transfer and encoding/decoding of binary data on both
sides
● Websocket timestamps on all messages, even messages that
don’t have a timestamp
● Detecting conditions and dropping messages when
○ Bandwidth is low and there accumulates an
ever-increasing backlog of outgoing messages
○ Client CPU usage is high and can’t keep up
○ Server CPU usage is high and can’t keep up
● Measure latency and clock difference between server and client to
provide proper QoS for client->server publishing
● WebRTC bridge?
● How hard is a C++ implementation of the websocket bridge
● [Adrian] Would be nice if client was ROS1/2 agnostic
■ [Roman] I’ve been granted access to the RobotWebTools github org
Notes
Action Items
● Call for presenters on Discourse
● For everybody: put in membership requests on
https://github.com/RobotWebTools/community/issues/new
● [Emerson] start email thread about message definitions ros2 core work
● Release rosbridge_suite into Foxy, Galactic, Rolling

Agenda:
○ Adrian Macneil, John Hurliman, Roman Shtylman, Jacob Bandes-Storch
(Foxglove)
○ Wayne Parrott
○ Nicholas Fragale
○ Jash Mota
○ Chris Smith
○ Ben Greenberg
○ Dheera Venkatraman (freedomrobotics.ai, rosshow, rosboard, rospy2)
● Other discussions?
○ [Rover Robotics] presentation on Rover Mini, a new ROS2 education robot in
need of a cross-platform, preferably web based, no ros install required, way of
interacting with it.
○ [Foxglove] FYI web deployment now available @ https://studio.foxglove.dev/
○ [Foxglove] ROS 2 dynamic message definitions
○ Potential python implementation of ros2-web-bridge to simplify developer
experience
○ [Dheera] Would love to mention ROSBoard
○ Other libs/projects folks are working on?
Notes
● Rover Robotics (Nick Fragale)
○ Robots in the sub-industrial price range
○ Selling to education and startups
○ Want to have something more modern than RViz to act as a frontend for the
Rover projects
○ In the past have used Qt vs web-based tech, the web tools always win in terms of
speed of dev and experience
○ Davis Fay - video of new product Rover Mini
■ Top speed 15mph
■ Successor to rover 0, high perf low cost, for commercial and educational
markets
■ First programmed with ROS2 by default
■ Price-competitive with e.g. turtlebot, not quite as cheap as a jetbot, meant
to be low-cost robotics platform to get real things done
■ Launching on Kickstarter Sep 1
■ Can buy as just mobile base, or with default sensor package
● Message Definitions
○ Needed to parse the message from binary format at runtime
○ Use case? To monitor (sub)? Or also to command (pub)?
● Foxglove web deployment
○ Browser build now publicly available.
○ Electron build still more feature complete
○ Foxglove Studio will always be free+open source, paid options planned around
team features, collaboration
● Gazebo/Simulation
○ Brief conversation on ignition-gazebo
○ Open3d engine going in to ign-gaz? http://www.open3d.org
○ Anybody tried Godot+ROS
○ Lots of projects use Unity
○ https://github.com/microsoft/AirSim
● Ros2 web bridge
○ Nodejs a problem?
○ Potentially a colcon-nodejs to “just build” the same as C++/Python
○ Want to be able to build _without_ message definitions in the WS
● ROSBoard (Dheera Venkatraman)
○ Web visualization tool for ROS topics
○ Supports ROS 1&2
○ Click on topics, get visualizations
○ It’s a node, server on the robot
○ Mobile-first frontend
Action Items
● File a ticket for message definitions feature (emerson)
○ https://github.com/ros2/ros2/issues/1159
● Attend middleware WG to discuss “message definitions” feature (emerson)
● [Rover] share kickstarter link and rover mini gazebo definitions, once available
2021-07-01 - Second Meeting

Agenda:
○ Emerson Knapp (AWS Robotics)
○ Jihoon Lee (Intermodalics)
○ Ben Greenberg (Southwest Research Institute)
○ Mohamed Behery (RWTH Aachen University)
○ Matthijs van der Burgh (Tech United, EIndhoven University of Technology)
○ Walter Gunter (Firefly Automatix)
○ Ryan Aposhian (FireFly Automatix)
○ Evan Flynn (Continental) ….joined late
● Presentation
● Major discussions
○ High level roadmap: ROS 1 / ROS 2 / General
○ Maintainership of WG subprojects
■ Assign people to GitHub Teams, use CODEOWNERS to auto-rotate
reviewers
○ Yes! Two weeks from now
Notes
● Foxglove presentation
○ Followups: rosbag2 -> web connection
● Roadmap
○ How much effort to put into ROS1?
■ Rosmsg, rosbag JS libraries for ROS1 still
Action Items
2021-06-11 - First Meeting

Agenda:
● Attendance
○ Ammaar Solkar
○ Ben Greenberg
○ Kliment Manykin
○ Vishal
○ Mohamed Anwar Behery M
○ Michael Orlov (Apex.AI)
○ François Sunatori
○ Ernestas Simutis
○ Wayne Parrott
○ Jihoon Lee
○ Minggang Wang
● Discussions
○ Review charter proposal
■ https://github.com/RobotWebTools/community/pull/1
○ Assets and permissions
■ Owners of GitHub org
■ Teams on GitHub org - and associated permissions
○ Do we want a centralized backlog tool, or is separate backlogs for the different
projects good enough
■ ZenHub
○ Is anybody else interested in running these meetings?
○ Meeting recurrence?
■ Every 2 weeks
● Decide: Is there a next meeting? When is it?
○ June 25
○ Focus: high level roadmap
○ maintainership list
● Set up notes template for next meeting
Notes
● Chat room? Add your preference here!

■ Matrix/Element
■ Slack
■ Discord
● How RobotWebTools has been maintained so far:
○ Lots of pending pull requests and issues stacking up over years
○ Ignoring questions / issues, paying attention to actual contribution
○ Give maintainership to repeat contributors
○ Frequent rotation in maintainers
○ Minggang founded rclnodejs - maintaining this whole time, Wayne started
working on it last year
○ Promote the long standing maintainers as owner. Letting them expand their ideas
freely.
○ Accept all contributions if they generally look OK
● How to keep maintainership active while individuals shift priorities?
○ Maybe the WG is a place to onboard maintainers
○ Auto-assigning code reviewers for PRs
● Reasons this is important:
○ Bridge modern tools with ROS or the cloud, migrate frameworks onto the browser
instead of native tools
● Come up with a roadmap on some schedule
○ Set longer term direction
● In-between roadmap/planning meetings, run working meetings
● Is there anything acute / high priority that needs to be addressed? (that we could throw
the weight of this group at)
○ Emerson: ROS visualizer suite using web GUI tools
○ Vishal: foxglove.dev
○ Wayne: bringing robotics to more developers with a wider range of skillsets, not
just device-side or backend.
● Thoughts on WebViz and Foxglove
○ Good support for live ros monitoring - using rosbridge
○ From the position of a ROS robot developer, need to get an interface in front of
clients to interact with the robot
○ Charter extension: not just ‘providing tools for web developers’ - also ‘providing
tools for robot developers’
● Jihoon notices the following categorization of contributors:
○ Rosbridge
○ (ROS 2) rclnodejs
○ (ROS 1) Roslibjs / ros3djs
○ Web Video Server/webrtc_ros/tf2_web_repulisher
● Interests:
○ Mohamed: rosbridge
○ Emerson: rclnodejs / rosbridge for ros2 / vis tools for robot developer
○ Ernestas: rosbridge, and concerns about security
■ Ros_auth, rosbridge configuration for which topics to expose to client
○ Ben: ros3djs for 3d visualization of the robot
○ Michael: Alternative to the RViz and visualization for Rosbag2
● Big picture roadmap Ideas:

○ Authentication vs Authorization for different users, permissions level to various
topics, subscribe vs publish etc.
○ Rqt_graph alternative with interactive web frontend - as a demo sample project
○
Action Items
● Call for interest for presenters for the next meeting
● Reach out to Foxglove

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