Foxglove WebSocket proxy with message transformations
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Project description
websocket-proxy
A proxy for Foxglove Bridge that converts messages just-in-time and forwards them via the Foxglove Bridge protocol.
Installation
# Run directly without installing
uvx --from websocket-proxy bridge ws://localhost:8765
# Or add to your project
uv add websocket-proxy
Features
- Converts
sensor_msgs/msg/CompressedImageandsensor_msgs/msg/Imagetofoxglove_msgs/msg/CompressedVideo- Using ffmpeg: h264, h265, vp9, av1
- Downscaling support
- Converts
sensor_msgs/msg/PointCloud2topoint_cloud_interfaces/msg/CompressedPointCloud2using cloudini- Downsampling support (dropping random points, voxelize grid)
- Throttling support for all topics
- Prevents flooding traffic by awaiting Ping/Pong
Usage
bridge <source-ws>
This starts the bridge connecting to <source-ws> and opens the proxy at ws://0.0.0.0:8766.
Default settings:
- Image downsampling to HD and h264 compression
- Cloudini point cloud compression
- Throttling to 1Hz
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