I'm a beginner in ROS, and I'm a bit stuck. I don't know if you have used Rosbridge, but if you have worked with it I need your help. As I set out in another topic, I want to communicate with my hexacopter using a simple Java interface (pub/sub some topics to takeoff, change velocity,..). I've found a library that could help me: https://github.com/h2r/java_rosbridge
However, I don't understand how the copter side works, I mean, how can I subscribe to a topic of my hexacopter through a websocket?
P.D.:I can connect with my copter using UDP:6000, when I use APM Planner or
Gazebo, but I don't know how to do it with a websocket.
Thank you for your support!