brendanandrade/web-matlab-bridge

Accessing ROS via websockets from matlab

web-matlab-bridge's Issues

Java WebSocket still implements toLowerCase

The Java WebSocket version you are using is writing all the headers of the request in lower case. This is not how the protocol is specified and causes troubles with some servers. Here is the bug and fix:

TooTallNate/Java-WebSocket#161

Websocket not connecting

When I attempt to run the first two lines of example.m

master_uri = 'ws://localhost:9090';
ws = ros_websocket(master_uri);

A java applet appears saying the Java Websocket is open and allowing me to manually close the Websocket, but when it tries to connect the following error occurs

Error using ros_websocket (line 87)
Java exception occurred:
java.lang.IllegalStateException: WebSocketClient objects are not reuseable

    at org.java_websocket.client.WebSocketClient.connect(WebSocketClient.java:153)


java.net.ConnectException: Connection refused: connect
    at sun.nio.ch.Net.connect(Native Method)
    at sun.nio.ch.SocketChannelImpl.connect(Unknown Source)
    at org.java_websocket.client.WebSocketClient.tryToConnect(WebSocketClient.java:201)
    at org.java_websocket.client.WebSocketClient.interruptableRun(WebSocketClient.java:219)
    at org.java_websocket.client.WebSocketClient.run(WebSocketClient.java:209)
    at java.lang.Thread.run(Unknown Source)
Exception in thread "Thread-59" java.lang.NullPointerException
    at org.java_websocket.WebSocketImpl.closeConnection(WebSocketImpl.java:446)
    at org.java_websocket.WebSocketImpl.closeConnection(WebSocketImpl.java:475)
    at org.java_websocket.client.WebSocketClient.interruptableRun(WebSocketClient.java:232)
    at org.java_websocket.client.WebSocketClient.run(WebSocketClient.java:209)
    at java.lang.Thread.run(Unknown Source)

Subscriber in matlab not returning data values

I am using Ubuntu 64 bit , Matlab 2012(a), JAVA 1.7_0.25, MATLAB_JAVA = JAVA 1.7_0.25, used ant to rebuild the src files, added the java_websocket.jar to static class path,

when running example.m, I get the Exception
java.lang.NullPointerException
at com.mathworks.jmi.bean.MatlabBeanInterface.addCallback(MatlabBeanInterface.java:765)
at com.mathworks.jmi.bean.MatlabCallbackInterface.addCallback(MatlabCallbackInterface.java:130)

It is occuring at the line where publisher is initialzed

Main problem --> subscriber.data is empty ... it is not returning any data

Array messages of length 1

If a PoseArray or similar Array message is send from matlab of length one, the json message lacks the [] brackets to indicating an error.

Ex: '{"op": "publish", "topic": "cmd_vel_array", "msg":{
"twists": {
"linear": {
"x": 0.5,
"y": 0,
"z": 0
},
"angular": {
"x": 0,
"y": 0,
"z": 2,
"w": 0
}
}
}}'

It should be: '{"op": "publish", "topic": "cmd_vel_array", "msg":{
"twists": [{
"linear": {
"x": 0.5,
"y": 0,
"z": 0
},
"angular": {
"x": 0,
"y": 0,
"z": 2,
"w": 0
}
}]
}}'

This arises from the behavior of "savejson" function used in the publish method in the Publisher class.

No class org.java_websocket.bridge.ROSBridgeClient can be located on Java class path

It seems like ros_websocket.m can not load the Java object. Do I have to do anything special to let Matlab know where is the java_websocket located?

Thanks!

The full error output:

??? Undefined function or method 'ROSBridgeClient' for input arguments of type 'java.net.URI'.

Error in ==> ros_websocket>ros_websocket.ros_websocket at 82
        obj.client = ROSBridgeClient(obj.MASTER_URI);

Error in ==> example at 37
ws = ros_websocket(master_uri);