Connect to Devices coBridge

coBridge is an open-source edge software provided by coScene, currently supporting ros1 noetic, ros2 foxy and humble versions. coBridge runs as a ros node on the robot side and interacts with the cloud through websocket connections. After establishing a connection with the cloud, coBridge can subscribe to ros topics and call ros services based on cloud commands, enabling real-time robot status monitoring, remote command deployment, and other functionalities.

Install coBridge

On the device side, open a terminal and follow these steps to install coBridge.

1. Import the public key.

  wget https://download.coscene.cn/cobridge/coscene.gpg && sudo gpg --dearmor -o /etc/apt/trusted.gpg.d/coscene.gpg coscene.gpg

2. Add the source.

  echo "deb [signed-by=/etc/apt/trusted.gpg.d/coscene.gpg] https://download.coscene.cn/cobridge $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/cobridge.list

3. Update apt and install.

  sudo apt update
  # Note: If ROS_DISTRO is not in your environment variables, ${ROS_DISTRO} should be replaced with 'noetic', 'foxy' or 'humble'
  sudo apt install ros-${ROS_DISTRO}-cobridge -y

4. Run coBridge.

  source /opt/ros/${ROS_DISTRO}/setup.bash

  # for ros 1 distribution
  roslaunch cobridge cobridge.launch

  # for ros 2 distribution
  ros2 launch cobridge cobridge_launch.xml

Real-time Device Visualization Using coStudio

1. Download coStudio.
2. After launching coStudio, select the "Open Connection" feature.
3. Choose the coScene Websocket option and enter the connection address in the WebSocket URL field. ws://localhost:21274 (21274 is the default port for coBridge).
4. Once connected, you can use different panels for real-time device data visualization.

Visualization Reference Links

• Panel Settings: Panel Settings
• Layout Settings: Layout