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ros2-web-integration
Patterns and best practices for integrating ROS2 systems with web technologies including REST APIs, WebSocket bridges, and browser-based robot interfaces. Use this skill when building web dashboards for robots, streaming camera feeds to browsers, exposing ROS2 services as REST endpoints, or implemen
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ROS2 Web Integration Skill
When to Use This Skill
- Building a web dashboard to monitor or control a robot running ROS2
- Streaming camera feeds (MJPEG, WebRTC, compressed WebSocket) from a robot to a browser
- Exposing ROS2 services and actions as REST API endpoints
- Implementing bidirectional WebSocket communication between a web UI and ROS2 nodes
- Setting up rosbridge_suite for quick prototyping or foxglove integration
- Writing a custom FastAPI or Flask bridge to ROS2 for production deployments
- Adding authentication, rate limiting, or CORS to robot web interfaces
- Running an async web server (uvicorn) alongside the rclpy executor without deadlocks
- Publishing teleop commands from a browser joystick to cmd_vel
- Serving ROS2 parameter configuration pages or diagnostic dashboards over HTTP
Architecture Overview
Comparison Table
| Feature | rosbridge_suite | Custom FastAPI Bridge | Custom Flask Bridge |
|---|---|---|---|
| Latency | ~5-15ms (WebSocket) | ~2-5ms (WebSocket), ~10-30ms (REST) | ~10-50ms (REST only without extensions) |
| Throughput | Medium (JSON serialization overhead) | High (binary WebSocket, async) | Low-Medium (sync, GIL-bound) |
| Auth | Basic (rosauth, limited) | Full (JWT, OAuth2, API keys) | Full (Flask-Login, JWT) |
| Complexity | Low (launch and connect) | Medium (must manage two event loops) | Medium (must manage threading) |
| Video Streaming | Requires separate web_video_server | Native (MJPEG, WebSocket binary) | MJPEG via generator responses |
| Production Ready | No (exposes full topic graph) | Yes | Yes (with gunicorn) |
| When to Use | Prototyping, foxglove, quick demos | Production APIs, high-perf streaming | Simple internal tools, legacy systems |
When to Use rosbridge vs Custom Bridge
Use rosbridge_suite when:
- You need a working bridge in under 10 minutes
- The client is foxglove, webviz, or another rosbridge-aware tool
- Security is not a concern (local network, demo environment)
- You do not need custom business logic between web and ROS2