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doc:web_visualization:architecture [2014/11/28 17:36] – admindoc:web_visualization:architecture [2014/12/07 07:17] (current) – admin
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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". 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".