new readme and default port 9090

Entire-Checkpoint: b531b04d554b

Author: facontidavide

CLAUDE.md

@@ -135,7 +135,7 @@ BridgeServer does NOT own timers. The entry point (`main.cpp`) drives the event
 
 ### Communication Pattern
 
-**WebSocket** (single port, default 8080):
+**WebSocket** (single port, default 9090):
 - **Text frames**: JSON API commands and responses (get_topics, subscribe, heartbeat, pause, resume, unsubscribe)
 - **Binary frames**: ZSTD-compressed aggregated message stream
 
@@ -220,20 +220,20 @@ pre-commit run -a
 
 ### ROS2 (via `--ros-args -p`):
 ```yaml
-port: 8080                  # WebSocket port
+port: 9090                  # WebSocket port
 publish_rate: 50.0          # Hz
 session_timeout: 10.0       # seconds
 strip_large_messages: true  # Strip Image/PointCloud2/etc data fields
 ```
 
 ### RTI (via CLI flags):
 ```bash
-pj_bridge_rti --domains 0 1 --port 8080 --publish-rate 50 --session-timeout 10
+pj_bridge_rti --domains 0 1 --port 9090 --publish-rate 50 --session-timeout 10
 ```
 
 ### FastDDS (via CLI flags):
 ```bash
-pj_bridge_fastdds --domains 0 1 --port 8080 --publish-rate 50 --session-timeout 10
+pj_bridge_fastdds --domains 0 1 --port 9090 --publish-rate 50 --session-timeout 10
 ```
 
 ## Important Design Decisions

README.md

@@ -4,7 +4,7 @@
 
 A high-performance bridge server that forwards middleware topic content over WebSocket to PlotJuggler clients. Three backends share a common core:
 
-- **ROS2** (`pj_bridge_ros2`) — ROS2 Humble / Jazzy via `rclcpp`
+- **ROS2** (`pj_bridge_ros2`) — ROS2 Humble / Jazzy / Kilted via `rclcpp`
 - **FastDDS** (`pj_bridge_fastdds`) — eProsima Fast DDS 3.4 (standalone, no ROS2 required)
 - **RTI** (`pj_bridge_rti`) — RTI Connext DDS (build disabled, code preserved)
 
@@ -20,51 +20,82 @@ independently.
 - **No DDS Required**: Clients connect via WebSocket (single port) without needing ROS2/DDS installed
 - **High Performance**: 50 Hz message aggregation with ZSTD compression
 - **Multi-Client Support**: Multiple clients can connect simultaneously with shared subscriptions
-- **Session Management**: Automatic cleanup of disconnected clients via heartbeat monitoring and WebSocket close events
 - **Runtime Schema Discovery**: Automatic extraction of message schemas from installed ROS2 packages
-- **Zero-Copy Design**: Efficient message handling using shared pointers and move semantics
 - **Large Message Stripping**: Automatic stripping of large array fields (Image, PointCloud2, LaserScan, OccupancyGrid) to reduce bandwidth while preserving metadata
-- **Type-Safe Error Handling**: Comprehensive error reporting using `tl::expected`
 
-## Architecture
-
-For detailed architecture documentation, see [docs/ARCHITECTURE.md](docs/ARCHITECTURE.md).
-
-## Building
+## CI Status
 
 |  | Humble | Jazzy | Kilted |
 |--|--------|-------|--------|
 | **Pixi** | [![Pixi: Humble](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/pixi_humble.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/pixi_humble.yaml) | [![Pixi: Jazzy](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/pixi_jazzy.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/pixi_jazzy.yaml) | [![Pixi: Kilted](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/pixi_kilted.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/pixi_kilted.yaml) |
 | **colcon** | [![ROS: Humble](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/ros_humble.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/ros_humble.yaml) | [![ROS: Jazzy](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/ros_jazzy.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/ros_jazzy.yaml) | [![ROS: Kilted](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/ros_kilted.yaml/badge.svg?branch=main)](https://github.com/PlotJuggler/plotjuggler_bridge/actions/workflows/ros_kilted.yaml) |
 
+## Configuration Parameters
+
+| Parameter | Type | Default | Description |
+|-----------|------|---------|-------------|
+| `port` | int | 9090 | WebSocket server port |
+| `publish_rate` | double | 50.0 | Aggregation publish rate in Hz |
+| `session_timeout` | double | 10.0 | Client timeout duration in seconds |
+| `strip_large_messages` | bool | true | Strip large arrays from Image, PointCloud2, LaserScan, OccupancyGrid messages |
+
+## Just "Download and Run"
+
+### Pixi
+
+Install the pre-built package from the [PlotJuggler conda channel](https://prefix.dev/channels/plotjuggler) — no build step required.
+
+```bash
+# Install (change humble to jazzy or kilted as needed)
+pixi global install pj-bridge-ros2-humble \
+  -c https://prefix.dev/plotjuggler -c robostack-staging -c conda-forge
+
+# Run (add arguments if different from default)
+pj_bridge_ros2 --ros-args -p port:=9090
+```
+
+### AppImage
+
+Pre-built AppImages are available from [GitHub Releases](https://github.com/PlotJuggler/plotjuggler_bridge/releases).
+
+Example for ROS2 Humble:
+
+```bash
+# Do once after downloading the file
+chmod +x pj_bridge_ros2-humble-x86_64.AppImage
+
+# Run (add arguments if different from default)
+./pj_bridge_ros2-humble-x86_64.AppImage --ros-args -p port:=9090
+```
 
+## Build Instructions
 
 All dependencies (IXWebSocket, spdlog, nlohmann_json, ZSTD) are provided by the dependency manager — nothing is vendored except `tl::expected`.
 
-### ROS2 backend — Pixi (recommended)
+### ROS2 — Pixi
 
 [Pixi](https://pixi.sh) manages the full toolchain including ROS2 via [RoboStack](https://robostack.github.io/).
 
-```bash
-git clone <repository_url> pj_bridge && cd pj_bridge
+From the cloned **plotjuggler_bridge** directory:
 
-# Humble
+```bash
+# Build and test (change humble to jazzy or kilted as needed)
 pixi run -e humble build
 pixi run -e humble test
 
-# Jazzy
-pixi run -e jazzy build
-pixi run -e jazzy test
+# Run
+pixi shell -e humble
+ros2 run pj_bridge pj_bridge_ros2
 ```
 
-### ROS2 backend — colcon
+### ROS2 — colcon
 
 Standard ROS2 build using `colcon`. Dependencies are installed via `rosdep`; only IXWebSocket is fetched automatically via CMake FetchContent.
 
 ```bash
 # Set up workspace
 mkdir -p ~/ws_plotjuggler/src && cd ~/ws_plotjuggler/src
-git clone <repository_url> pj_bridge
+git clone https://github.com/PlotJuggler/plotjuggler_bridge && cd plotjuggler_bridge
 
 # Install dependencies
 source /opt/ros/${ROS_DISTRO}/setup.bash
@@ -74,77 +105,33 @@ rosdep install --from-paths pj_bridge --ignore-src -y
 cd ~/ws_plotjuggler
 colcon build --packages-select pj_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release
 colcon test --packages-select pj_bridge && colcon test-result --verbose
+
+# Run
+source install/setup.bash
+ros2 run pj_bridge pj_bridge_ros2
 ```
 
-### FastDDS backend — Conan
+### FastDDS — Conan
+
+Standalone build using eProsima Fast DDS (no ROS2 required).
+
+From the cloned **plotjuggler_bridge** directory:
 
 ```bash
-cd pj_bridge
+# Build
 conan install . --output-folder=build_fastdds --build=missing -s build_type=Release
 cd build_fastdds
 cmake .. -DCMAKE_BUILD_TYPE=Release -DENABLE_FASTDDS=ON \
          -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake
 make -j$(nproc)
-```
-
-### Running Tests
-
-```bash
-# Via pixi (154 unit tests)
-pixi run -e humble test
 
-# Or manually after building
-colcon test --packages-select pj_bridge && colcon test-result --verbose
+# Run
+./pj_bridge_fastdds --domains 0 1
 ```
 
-## Usage
-
-### Starting the Server
-
-#### ROS2 backend
-
-```bash
-# Default (port 8080, 50 Hz, 10 s timeout)
-ros2 run pj_bridge pj_bridge_ros2
-
-# Custom
-ros2 run pj_bridge pj_bridge_ros2 --ros-args \
-  -p port:=9090 -p publish_rate:=50.0 -p session_timeout:=10.0
-```
-
-#### FastDDS backend
-
-```bash
-pj_bridge_fastdds --domains 0 1 --port 8080 --publish-rate 50 --session-timeout 10
-```
-
-### Configuration Parameters
-
-| Parameter | Type | Default | Description |
-|-----------|------|---------|-------------|
-| `port` | int | 9090 | WebSocket server port |
-| `publish_rate` | double | 50.0 | Aggregation publish rate in Hz |
-| `session_timeout` | double | 10.0 | Client timeout duration in seconds |
-| `strip_large_messages` | bool | true | Strip large arrays from Image, PointCloud2, LaserScan, OccupancyGrid messages |
-
-### Testing with Sample Data
-
-```bash
-# Terminal 1: Play rosbag
-source /opt/ros/humble/setup.bash
-ros2 bag play /path/to/sample.mcap --loop
-
-# Terminal 2: Run server
-source /opt/ros/humble/setup.bash
-source ~/ws_plotjuggler/install/setup.bash
-ros2 run pj_bridge pj_bridge_node
-
-# Terminal 3: Run Python test client
-cd ~/ws_plotjuggler/src/pj_bridge
-python3 tests/integration/test_client.py --subscribe /topic1 /topic2
-```
+## Documentation
 
-## API Protocol
+- For detailed architecture documentation, see [docs/ARCHITECTURE.md](docs/ARCHITECTURE.md).
 
 For the full API protocol documentation (commands, responses, binary wire format), see [docs/API.md](docs/API.md).
 
@@ -155,15 +142,15 @@ For the full API protocol documentation (commands, responses, binary wire format
 Another process is using the port. Either kill the conflicting process or use a custom port:
 
 ```bash
-ros2 run pj_bridge pj_bridge_node --ros-args -p port:=9090
+ros2 run pj_bridge pj_bridge_ros2 --ros-args -p port:=9090
 ```
 
 ### Client receives no data
 
 1. Verify server is running: `ps aux | grep pj_bridge`
 2. Check topics are being published: `ros2 topic list`
 3. Verify heartbeat is being sent (required every 1 second)
-4. Check server logs: `ros2 run pj_bridge pj_bridge_node --ros-args --log-level debug`
+4. Check server logs: `ros2 run pj_bridge pj_bridge_ros2 --ros-args --log-level debug`
 
 ### "Failed to get schema for topic" error
 
@@ -178,7 +165,7 @@ ros2 interface show <package_name>/msg/<MessageType>
 The client stopped sending heartbeats. Ensure the client sends a heartbeat every 1 second. The default timeout is 10 seconds. Increase if needed:
 
 ```bash
-ros2 run pj_bridge pj_bridge_node --ros-args -p session_timeout:=20.0
+ros2 run pj_bridge pj_bridge_ros2 --ros-args -p session_timeout:=20.0
 ```
 
 ## License

app/include/pj_bridge/bridge_server.hpp

@@ -60,14 +60,14 @@ class BridgeServer {
    * @param topic_source Backend-specific topic discovery and schema provider
    * @param subscription_manager Backend-specific subscription manager
    * @param middleware Middleware interface for network communication
-   * @param port Server port (default: 8080)
+   * @param port Server port (default: 9090)
    * @param session_timeout Session timeout in seconds (default: 10.0)
    * @param publish_rate Message aggregation publish rate in Hz (default: 50.0)
    */
   explicit BridgeServer(
       std::shared_ptr<TopicSourceInterface> topic_source,
       std::shared_ptr<SubscriptionManagerInterface> subscription_manager,
-      std::shared_ptr<MiddlewareInterface> middleware, int port = 8080, double session_timeout = 10.0,
+      std::shared_ptr<MiddlewareInterface> middleware, int port = 9090, double session_timeout = 10.0,
       double publish_rate = 50.0);
 
   /// Shuts down middleware before members are destroyed, preventing

conda.recipe/recipe.yaml

@@ -19,6 +19,9 @@ build:
       -DBUILD_TESTING=OFF \
       -S . -B build
     cmake --build build --target install
+    # Symlink into bin/ so pixi global install auto-exposes the executable
+    mkdir -p $PREFIX/bin
+    ln -sf ../lib/pj_bridge/pj_bridge_ros2 $PREFIX/bin/pj_bridge_ros2
 
 requirements:
   build:
@@ -49,6 +52,7 @@ tests:
   - package_contents:
       files:
         - lib/pj_bridge/pj_bridge_ros2
+        - bin/pj_bridge_ros2
 
 about:
   homepage: https://github.com/PlotJuggler/plotjuggler_bridge

docs/API.md

@@ -1,6 +1,6 @@
 # API Protocol
 
-`pj_ros_bridge` uses a single WebSocket port (default 8080). Text frames carry JSON API requests/responses; binary frames carry ZSTD-compressed aggregated message data.
+`pj_ros_bridge` uses a single WebSocket port (default 9090). Text frames carry JSON API requests/responses; binary frames carry ZSTD-compressed aggregated message data.
 
 ## Request IDs and Protocol Version
 

docs/ARCHITECTURE.md

@@ -28,7 +28,7 @@ pj_bridge is a multi-backend bridge server that forwards middleware topic data o
 
 ## Communication Pattern
 
-Single WebSocket port (default 8080), two frame types:
+Single WebSocket port (default 9090), two frame types:
 
 - **Text frames**: JSON API requests and responses (`get_topics`, `subscribe`, `unsubscribe`, `heartbeat`, `pause`, `resume`)
 - **Binary frames**: ZSTD-compressed aggregated message stream, sent per-client based on their subscriptions

fastdds/src/main.cpp

@@ -32,14 +32,14 @@ int main(int argc, char* argv[]) {
   CLI::App app{"pj_bridge eProsima FastDDS Backend"};
 
   std::vector<int32_t> domain_ids;
-  int port = 8080;
+  int port = 9090;
   double publish_rate = 50.0;
   double session_timeout = 10.0;
   std::string log_level = "info";
   bool stats_enabled = false;
 
   app.add_option("--domains,-d", domain_ids, "DDS domain IDs")->required()->expected(1, -1);
-  app.add_option("--port,-p", port, "WebSocket port")->default_val(8080)->check(CLI::Range(1, 65535));
+  app.add_option("--port,-p", port, "WebSocket port")->default_val(9090)->check(CLI::Range(1, 65535));
   app.add_option("--publish-rate", publish_rate, "Aggregation publish rate in Hz")->default_val(50.0);
   app.add_option("--session-timeout", session_timeout, "Session timeout in seconds")->default_val(10.0);
   app.add_option("--log-level", log_level, "Log level (trace, debug, info, warn, error)")->default_val("info");

launch/test_topics.launch.py

@@ -16,7 +16,7 @@
 
 def generate_launch_description():
     port_arg = DeclareLaunchArgument(
-        "port", default_value="8080", description="WebSocket server port"
+        "port", default_value="9090", description="WebSocket server port"
     )
     publish_rate_arg = DeclareLaunchArgument(
         "publish_rate",

ros2/src/main.cpp

@@ -36,7 +36,7 @@ int main(int argc, char** argv) {
   RCLCPP_INFO(node->get_logger(), "Starting pj_bridge (ROS2 backend)...");
 
   // Declare and get parameters
-  node->declare_parameter<int>("port", 8080);
+  node->declare_parameter<int>("port", 9090);
   node->declare_parameter<double>("publish_rate", 50.0);
   node->declare_parameter<double>("session_timeout", 10.0);
   node->declare_parameter<bool>("strip_large_messages", true);

rti/src/main.cpp

@@ -32,15 +32,15 @@ int main(int argc, char* argv[]) {
   CLI::App app{"pj_bridge RTI DDS Backend"};
 
   std::vector<int32_t> domain_ids;
-  int port = 8080;
+  int port = 9090;
   double publish_rate = 50.0;
   double session_timeout = 10.0;
   std::string qos_profile;
   std::string log_level = "info";
   bool stats_enabled = false;
 
   app.add_option("--domains,-d", domain_ids, "DDS domain IDs")->required()->expected(1, -1);
-  app.add_option("--port,-p", port, "WebSocket port")->default_val(8080)->check(CLI::Range(1, 65535));
+  app.add_option("--port,-p", port, "WebSocket port")->default_val(9090)->check(CLI::Range(1, 65535));
   app.add_option("--publish-rate", publish_rate, "Aggregation publish rate in Hz")->default_val(50.0);
   app.add_option("--session-timeout", session_timeout, "Session timeout in seconds")->default_val(10.0);
   app.add_option("--qos-profile", qos_profile, "QoS profile XML file path");