How to connect to SENSR-I

SENSR Output

To listen to SENSR output, you have to connect to the Master Node. The algo nodes only communicate with the Master Node.

Secure Output

SENSR supports secure output mode. In this mode, all outgoing/incoming packets are secured by SSL. By default, the secure mode is turned off. To enable this, we have to set up 2 things before running SENSR.

• Generate certificate files. You can make it by running generate_certificate.sh with your ip address of the publishing packets. (E.g. $./generate_certificate.sh 192.168.0.100) The certificate file will be located under $HOME/seoulrobotics/keys Change security.enable_ssl to true in bin/data/app_config/app_settings.toml.

SENSR encodes data processing results with Protobuf and sends it through TCP using Websocket. With SENSR SDK, you can easily receive SENSR output in your C++ client. SENSR SDK code is here

We also provide JavaScript and Python interfaces inside the SDK to easily work with SENSR output in those languages. For more information on how to use JavaScript and Python, please refer to the relevant readme in the SDK repository.

Websocket Endpoints

Communication Protocol	TCP (Websocket)
Data Encoding	Protobuf 3
Output Port	5050
Protobuf Message	OutputMessage

Communication Protocol	TCP (Websocket)
Data Encoding	Protobuf 3
Output Port	5051
Protobuf Message	PointResult

WS and WSS

SENSR can secure the output channel. To enable secure websocket, please follow steps in section SENSR output.