lcm-websocket-server 0.1.1

WebSocket server for republishing LCM messages

lcm-websocket-server

WebSocket server for republishing LCM messages.

Installation

You must have the LCM Python package installed before using lcm-websocket-server. See the LCM build instructions for more information.

From PyPI

pip install lcm-websocket-server

From source

poetry build
pip install dist/lcm_websocket_server-*-py3-none-any.whl

Usage

For a list of available options, run:

lcm-websocket-server --help

To run the server locally on port 8765 and republish messages on all channels:

lcm-websocket-server --host localhost --port 8765 --channel ".*" your_lcm_types_package

The lcm_packages argument is the name of the package (or comma-separated list of packages) that contains the LCM Python message definitions. Submodules are scanned recursively and registered so they can be automatically identified, decoded, and republished.

Example: compas_lcmtypes

For example, the compas_lcmtypes package contains LCM types for the CoMPAS lab. These can be installed with:

pip install compas-lcmtypes==0.1.0

Then, the server can be run with:

lcm-websocket-server compas_lcmtypes

Docker

Build

A Docker image to run the lcm-websocket-server can be built with:

./scripts/docker_build.sh

This will create the mbari/lcm-websocket-server image.

Run

The container can be run with:

docker run \
    --name lcm-websocket-server \
    --rm \
    -e HOST=0.0.0.0 \
    -e PORT=8765 \
    -e CHANNEL=".*" \
    -v /path/to/your_lcm_types_package:/app/your_lcm_types_package \
    -e LCM_PACKAGES=your_lcm_types_package \
    --network=host \
    -d \
    mbari/lcm-websocket-server

Note that the HOST, PORT, and CHANNEL environment variables specified above are the defaults for the mbari/lcm-websocket-server image. These can be omitted if the defaults are acceptable.

The LCM_PACKAGES environment variable should be set to the name of the package (or comma-separated list of packages) that contains the LCM Python message definitions. The /app directory is included in the PYTHONPATH so that any packages mounted there (as shown with -v above) can be imported.

It's recommended to run with --network=host to avoid issues with LCM over UDP. This will allow the container to use the host's network stack.