Differences
This shows you the differences between two versions of the page.
| Last revisionBoth sides next revision |
| doc:web_visualization:architecture [2014/11/28 16:57] – created admin | doc:web_visualization:architecture [2014/11/28 17:36] – admin |
|---|
| ====== System architecture ====== | ====== System architecture ====== |
| | |
| | KnowRob communicates with the browser-based visualizations via ROS topics (e.g. for the //visualization_marker// messages) and the //json_prolog// ROS service. The //rosbridge// node forwards messages from the ROS environment via a WebSocket to the user's browser and thus translates between the "ROS world" and the "Web world". |
| |
| {{ :doc:web-visualization-architecture.png?nolink |}} | {{ :doc:web-visualization-architecture.png?nolink |}} |
| |
| **Note:** Though the visualization appears to be a standard web page, it's more similar to a web-based rviz. This means that there is still a single ROS graph and a single KnowRob instance in the background that is shared among all website visitors. | Although the visualization appears to be a standard web page, it's important to keep in mind that it is indeed more similar to a web-based rviz. This means that there is only a single ROS graph and a single KnowRob instance in the background that is shared among all website visitors. If this creates a problem for your use case, you may consider setting up the KnowRob/Docker modules described [[/doc/docker|here]] that allow the creation of one KnowRob instance per website user. |
| |
| |
| |
