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ros_portal

ROS 2 package containing the ROS Portal node, launch files, default configuration, and ROS Portal tests.

ROS Portal dynamically discovers configured ROS 2 topics and services, forwards matching entries to LiveKit, and republishes allowed LiveKit DataTracks and RPCs back into ROS 2. It also exposes selected remote ros2 CLI operations through ROS 2 services backed by LiveKit RPC.

Package Contents

  • src/: ROS Portal node and library implementation.
  • include/: public ROS Portal headers.
  • config/all_topics.yaml: mirrors the builtin default config (used when no config_path is provided) that forwards all topics bidirectionally.
  • config/ros_portal.yaml: example ROS Portal config used for development and integration testing.
  • launch/: ROS Portal launch files for normal and local development use.
  • test/: unit and integration tests.

ROS Portal-specific service interfaces live in the sibling ros_portal_msgs package.

See the repository README for user and developer guides, and the data-track schema design for the schema wire contract and validation flow.