cmu-cabot/cabot-ble-server

cabot-ble-server's Issues

ROS2 migration

• after testing and merging the PR #4
• migrate this repo for ROS2
  • unlike ROS1 implementation, we can use ROS2 directory without using rosbridge_suite
  • we can use rosbrigde_suite, but currently we have a critical bug in communication between ROS1 rosbridge server (reconnection issue)

BLE server is not stable

BLE transport is implemented on its own library (dgatt) based on DBus bluez interface.

There is a new library called bleak, which also uses DBus bluez for linux.
https://github.com/hbldh/bleak

It would be better to use a maintained library for the lower layer.

TCP transport is better to use websocket instead of long polling

The current combination of cabot-app and cabot-ble-server uses HTTP long polling as a TCP transport.

The server side needs to allow CORS (cors_allowed_origins) to let the app use websocket transport.

Also, the current implementation uses Flask with threading async mode.
It outputs a warning saying

werkzeug - INFO - WARNING: This is a development server. Do not use it in a production deployment. Use a production WSGI server instead.

We may be able to use ASGI server implementation such as Uvicorn to run both BLE/TCP with asyncio.