ros2-web-integration

# 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 g...