tachybridge-wasm

tachybridge-wasm is a Rust/WASM-based WebSocket bridge client.

• Designed for tachybridge end-to-end behavior
• topic and service flows are compatible with rosbridge
• Native action support follows tachybridge protocol behavior

Install

npm install tachybridge-wasm

Node.js: >=20

Build

npm run build -w tachybridge-wasm

API

• connect(url)
• subscribe(topic, type, callback)
• subscribe(topic, type, callback, { compression? })
• unsubscribe(topic)
• advertise(topic, type)
• publish(topic, msg)
• callService(service, type, args, { id?, timeoutMs? })
• executeCli(command, { id?, timeoutMs? })
• sendActionGoal(options)
• cancelActionGoal(options)

Codec

• Default: json (text frame)
• Optional: cbor (binary frame)
• Optional: auto (decode by payload type)

import { BridgeClient } from "tachybridge-wasm/node";

const client = new BridgeClient({ codec: "json", timeoutMs: 5000 });
await client.connect("ws://127.0.0.1:9090");

Compatibility Notes

• Target protocol: tachybridge
• rosbridge compatibility: topic and service operations
• Action compatibility with rosbridge is limited due to event shape differences

Browser and Node Entrypoints

• Browser: import { BridgeClient } from "tachybridge-wasm"
• Node: import { BridgeClient } from "tachybridge-wasm/node"

Pre-Publish Checklist

npm run build -w tachybridge-wasm
npm run test -w tachybridge-wasm
npm pack --dry-run -w tachybridge-wasm