gsoc2018

MRPT Web Framework

My Work briefly

• Implemented a C++ websocket server and a RPC handler capable of publish/subscribe mechanism. The link to the C++ library mrpt-web.
• Created a client side JavaScript Library for handling the websocket communication. Also provides 2d, 3d visualisation modules and laid the structure of library for future development of modules.

Link to Codes

• MRPT-web (C++ library) -> main-repo,my-repo
• MRPT-web-js (JS library) -> main-repo,my-repo

• rawlog-web-ui (app built on the framework)(https://github.com/MRPT/rawlog-web-ui),my-repo the main repos have been created from my repo

• MRPT (added schema based serialization abstract class): will add link to PR for serialization code here

Merge Status

All the repos have been merged completely with the organisation’s repo,

• MRPT-WEB
  https://github.com/MRPT/mrpt-web
• MRPT-WEB-JS
  https://github.com/MRPT/mrpt-web-js
• Rawlog-Web-UI
  https://github.com/MRPT/rawlog-web-ui

What is done

• The RPC handling by websocket server in mrpt-web repo.
• Client side(JS) RPC handling using native websockets
• Client side(JS) 3d and 2d visualisation for poses, point clouds, paths, plots and other meshes based on three.js
• Created a functional app rawlog-web-ui with backend using the websocket server developed. The frontend developed using Vue.js and modules from mrpt-web-js. The web-gui based app allows users to visualize recorded rawlogs.

Future development

The structure and core module have been implemented during the gsoc period. A lot of work can be done to extend functionality and simplicity of the library. Some of the work which would be direct extension to the current state is,

• MRPT-WEB The stubs for RPC handling need to be created manually. A stub generator would enhance the user experience by reducing development time. Concrete examples showcasing publisher and subscriber over websockets would be useful additions.
• MRPT-WEB-JS Transforms and messages module can be developed to provide completeness to the framework. Compatibility with ROS, and suitable apps or examples.
• Rawlog-Web-UI Adding more features from the original Rawlog Viewer

Contact

rachittibrewal@gmail.com