深蓝学院-自动驾驶控制与规划-第三章作业-完整代码

rosbridge_suite =============== Modification by LG Electronics, Inc. add support for protobuf messages and improve performance for use with Apollo and [LG's simulator for autonomous vehicles](https://github.com/lgsvl/simulator). #### Server Implementations of the rosbridge v2 Protocol rosbridge provides a JSON interface to ROS, allowing any client to send JSON to publish or subscribe to ROS topics, call ROS services, and more. rosbridge supports a variety of transport layers, including WebSockets and TCP. For information on the protocol itself, see the [rosbridge protocol specification](ROSBRIDGE_PROTOCOL.md). For full documentation, see [the ROS wiki](http://ros.org/wiki/rosbridge_suite). This project is released as part of the [Robot Web Tools](http://robotwebtools.org/) effort. ### Packages * [rosbridge_suite](rosbridge_suite) is a [ROS meta-package](http://www.ros.org/wiki/catkin/conceptual_overview#Metapackages_and_the_Elimination_of_Stacks) including all the rosbridge packages. * [rosbridge_library](rosbridge_library) contains the Python API that receives JSON-formatted strings as input and controls ROS publishers/subscribers/service calls according to the content of the JSON strings. * [rosbridge_server](rosbridge_server) contains a WebSocket server implementation that exposes the rosbridge_library. * [rosapi](rosapi) provides service calls for getting meta-information related to ROS like topic lists as well as interacting with the Parameter Server. ### Clients A rosbridge client is a program that communicates with rosbridge using its JSON API. rosbridge clients include: * [roslibjs](https://github.com/RobotWebTools/roslibjs) - A JavaScript API, which communicates with rosbridge over WebSockets. * [jrosbridge](https://github.com/WPI-RAIL/jrosbridge) - A Java API, which communicates with rosbridge over WebSockets. ### License rosbridge_suite is released with a BSD license. For full terms and conditions, see the [LICENSE](LICENSE) file. ### Authors See the [AUTHORS](AUTHORS.md) file for a full list of contributors.