A python test client which demonstrates the communication with ROSBridge. The client can be used to test JSON and BSON serialization. It's also possible to switch between TCP and Websockets as a communication method with ROSBridge.

The client is subject of this Pull Request: RobotWebTools/rosbridge_suite#257

How to use the client with JSON and TCP

roslaunch rosbridge_server rosbridge_tcp.launch
rosrun rospy_tutorials add_two_ints_server
python BSONTestClient.py --json --tcp

How to use the client with BSON and TCP

roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=True
rosrun rospy_tutorials add_two_ints_server
python BSONTestClient.py --bson --tcp

You can also replace the parameter --tcp with --websocket to use a websocket connection.

Relevant notes:

• Tested with Python 2.7
• The client assumes that your rosbridge server is running on localhost:9090
• For demonstration purposes, the client calls the add_two_ints service. Please call "rosrun rospy_tutorials add_two_ints_server" before running this client.