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doc:web_visualization:architecture [2014/11/28 16:57]
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doc:web_visualization:architecture [2014/12/07 07:17] (current)
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 ====== ​ System architecture ====== ====== ​ System architecture ======
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 +^ This page describes the '​catkinized'​ version of KnowRob that uses the [[http://​wiki.ros.org/​catkin/​|catkin buildsystem]] and the pure Java-based [[http://​wiki.ros.org/​rosjava|rosjava]]. The older version, which was based on the rosbuild buildsystem and rosjava_jni,​ used a [[http://​wiki.ros.org/​mod_vis|local visualization canvas implemented in Java]].^
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 +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.