Guillaumebeuzeboc · Jul 7, 2026 · Jul 7, 2026 · Jul 7, 2026 · Jul 7, 2026 · Jul 7, 2026
diff --git a/.github/workflows/snap-promote.yaml b/.github/workflows/snap-promote.yaml
@@ -0,0 +1,24 @@
+# =============================================================================
+# Snap Promote — manual gate: jazzy/candidate -> jazzy/stable
+#
+# Run via the Actions tab once a candidate revision has soaked.
+# Uses the canonical reusable promote workflow.
+# =============================================================================
+
+name: Snap Promote
+
+on:
+  workflow_dispatch:
+
+permissions: {}
+
+jobs:
+  promote:
+    permissions:
+      contents: read
+    uses: canonical/robotics-actions-workflows/.github/workflows/promote.yaml@main
+    secrets:
+      snapstore-login: ${{ secrets.SNAPSTORE_LOGIN }}
+    with:
+      from-channel: jazzy/candidate
+      to-channel: jazzy/stable
diff --git a/.github/workflows/snap.yaml b/.github/workflows/snap.yaml
@@ -0,0 +1,81 @@
+# =============================================================================
+# Snap Package — build, test and publish via the canonical reusable workflow.
+#
+# Branch push -> jazzy/edge, tag push -> jazzy/candidate. PRs build+test only.
+# Promotion jazzy/candidate -> jazzy/stable lives in snap-promote.yaml.
+#
+# SETUP: store the credentials from
+#   snapcraft export-login --snaps pj-bridge
+# as the SNAPSTORE_LOGIN repository secret.
+# =============================================================================
+
+name: Snap Package
+
+on:
+  push:
+    branches: [main]
+    tags: ['*']
+  pull_request:
+  workflow_dispatch:
+
+permissions: {}
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  snap:
+    permissions:
+      contents: read
+      actions: write
+    uses: canonical/robotics-actions-workflows/.github/workflows/snap.yaml@main
+    secrets:
+      snapstore-login: ${{ secrets.SNAPSTORE_LOGIN }}
+    with:
+      runs-on: '["ubuntu-latest", "ubuntu-24.04-arm"]'
+      snap-track: jazzy
+      # Packaging check: start the bridge snap, have a ros2-cli snap publish a
+      # topic, drive one WebSocket subscribe, and confirm the bridge served it.
+      snap-test-script: |
+        #!/usr/bin/env bash
+        set -euxo pipefail
+
+        sudo snap install ros2-cli --channel jazzy
+        # websocat has no snap; grab the pinned static musl binary for this runner.
+        case "$(uname -m)" in
+          x86_64) websocat_arch=x86_64 ;;
+          aarch64) websocat_arch=aarch64 ;;
+          *) echo "Unsupported architecture: $(uname -m)" >&2; exit 1 ;;
+        esac
+        sudo curl -fsSL -o /usr/local/bin/websocat \
+          "https://github.com/vi/websocat/releases/download/v1.13.0/websocat.${websocat_arch}-unknown-linux-musl"
+        sudo chmod +x /usr/local/bin/websocat
+
+        pj-bridge.pj-bridge-ros2 --ros-args -p port:=9090 \
+          > /tmp/pj_bridge.log 2>&1 &
+        BRIDGE_PID=$!
+
+        ros2-cli.ros2 topic pub -r 1 /hello_world std_msgs/msg/String \
+          "data: 'hello world'" > /tmp/pub_hello.log 2>&1 &
+        PUB_PID=$!
+
+        # Retry while the WebSocket starts up and DDS discovers the topic.
+        for attempt in {1..10}; do
+          echo '{"command":"subscribe","topics":["/hello_world"],"id":"s1"}' \
+            | timeout 5 websocat ws://localhost:9090 || true
+          if grep -q "subscribed to topic '/hello_world'" /tmp/pj_bridge.log; then
+            break
+          fi
+          sleep 1
+        done
+
+        set +e
+        grep -q "subscribed to topic '/hello_world'" /tmp/pj_bridge.log
+        TEST_EXIT=$?
+        set -e
+
+        kill "${BRIDGE_PID}" "${PUB_PID}" 2>/dev/null || true
+        echo "--- Bridge log ---";    cat /tmp/pj_bridge.log
+        echo "--- Publisher log ---"; cat /tmp/pub_hello.log
+        exit "${TEST_EXIT}"
diff --git a/.gitignore b/.gitignore
@@ -15,3 +15,6 @@ install_tsan/
 build_asan/
 install_asan/
 log/
+
+# Built snap artifacts
+*.snap
diff --git a/README.md b/README.md
@@ -88,6 +88,20 @@ pixi global install pj-bridge-ros2-humble \
 pj_bridge_ros2 --ros-args -p port:=9090
 ```
 
+### Snap
+
+Pre-built snaps are available from the [Snap Store](https://snapcraft.io/pj-bridge).
+
+```bash
+sudo snap install pj-bridge
+
+# Run
+pj-bridge.pj-bridge-ros2 --ros-args -p port:=9090
+```
+
+The snap bundles ROS 2 Jazzy and uses UDP-only DDS transport automatically.
+No extra ROS 2 installation is required on the machine running the bridge.
+
 ### AppImage
 
 Pre-built AppImages are available from [GitHub Releases](https://github.com/PlotJuggler/plotjuggler_bridge/releases).

diff --git a/snap/local/CMakeLists.txt b/snap/local/CMakeLists.txt
@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 3.14)
+project(pj_bridge_snap)
+
+find_package(ament_cmake REQUIRED)
+ament_package()
diff --git a/snap/local/fastrtps_no_shm.xml b/snap/local/fastrtps_no_shm.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>UDPv4Transport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+    <participant profile_name="default_xrce_dds_profile" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>UDPv4Transport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>
diff --git a/snap/local/package.xml b/snap/local/package.xml
@@ -0,0 +1,143 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>pj_bridge_snap</name>
+  <version>0.0.0</version>
+  <description>Additional runtime middleware and interfaces for the pj-bridge snap</description>
+  <maintainer email="canonical-robotics-brand@canonical.com">ubuntu-robotics</maintainer>
+  <license>AGPL-3.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <!-- Open-source RMW providers. -->
+  <exec_depend>rmw_cyclonedds_cpp</exec_depend>
+  <exec_depend>rmw_fastrtps_cpp</exec_depend>
+
+  <exec_depend>ackermann_msgs</exec_depend>
+  <exec_depend>action_msgs</exec_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+  <exec_depend>automotive_autonomy_msgs</exec_depend>
+  <exec_depend>automotive_navigation_msgs</exec_depend>
+  <exec_depend>automotive_platform_msgs</exec_depend>
+  <exec_depend>autoware_auto_msgs</exec_depend>
+  <exec_depend>can_msgs</exec_depend>
+  <exec_depend>cartographer_ros_msgs</exec_depend>
+  <exec_depend>cascade_lifecycle_msgs</exec_depend>
+  <exec_depend>control_msgs</exec_depend>
+  <exec_depend>controller_manager_msgs</exec_depend>
+  <exec_depend>depthai_ros_msgs</exec_depend>
+  <exec_depend>diagnostic_msgs</exec_depend>
+  <exec_depend>dwb_msgs</exec_depend>
+  <exec_depend>dynamixel_workbench_msgs</exec_depend>
+  <exec_depend>four_wheel_steering_msgs</exec_depend>
+  <exec_depend>foxglove_msgs</exec_depend>
+  <exec_depend>gazebo_msgs</exec_depend>
+  <exec_depend>geographic_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>gps_msgs</exec_depend>
+  <exec_depend>graph_msgs</exec_depend>
+  <exec_depend>grasping_msgs</exec_depend>
+  <exec_depend>grbl_msgs</exec_depend>
+  <exec_depend>grid_map_msgs</exec_depend>
+  <exec_depend>irobot_create_msgs</exec_depend>
+  <exec_depend>leo_msgs</exec_depend>
+  <exec_depend>lgsvl_msgs</exec_depend>
+  <exec_depend>lifecycle_msgs</exec_depend>
+  <exec_depend>map_msgs</exec_depend>
+  <exec_depend>marti_can_msgs</exec_depend>
+  <exec_depend>marti_common_msgs</exec_depend>
+  <exec_depend>marti_dbw_msgs</exec_depend>
+  <exec_depend>marti_introspection_msgs</exec_depend>
+  <exec_depend>marti_nav_msgs</exec_depend>
+  <exec_depend>marti_perception_msgs</exec_depend>
+  <exec_depend>marti_sensor_msgs</exec_depend>
+  <exec_depend>marti_status_msgs</exec_depend>
+  <exec_depend>marti_visualization_msgs</exec_depend>
+  <exec_depend>mavros_msgs</exec_depend>
+  <exec_depend>micro_ros_diagnostic_msgs</exec_depend>
+  <exec_depend>micro_ros_msgs</exec_depend>
+  <exec_depend>microstrain_inertial_msgs</exec_depend>
+  <exec_depend>moveit_msgs</exec_depend>
+  <exec_depend>mrpt_msgs</exec_depend>
+  <exec_depend>nao_command_msgs</exec_depend>
+  <exec_depend>nao_sensor_msgs</exec_depend>
+  <exec_depend>nav_2d_msgs</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+  <exec_depend>nav2_msgs</exec_depend>
+  <exec_depend>nmea_msgs</exec_depend>
+  <exec_depend>novatel_gps_msgs</exec_depend>
+  <exec_depend>object_recognition_msgs</exec_depend>
+  <exec_depend>octomap_msgs</exec_depend>
+  <exec_depend>pal_statistics_msgs</exec_depend>
+  <exec_depend>pcl_msgs</exec_depend>
+  <exec_depend>pendulum_msgs</exec_depend>
+  <exec_depend>phidgets_msgs</exec_depend>
+  <exec_depend>plansys2_msgs</exec_depend>
+  <exec_depend>plotjuggler_msgs</exec_depend>
+  <exec_depend>radar_msgs</exec_depend>
+  <exec_depend>rc_common_msgs</exec_depend>
+  <exec_depend>rc_reason_msgs</exec_depend>
+  <exec_depend>rclpy_message_converter_msgs</exec_depend>
+  <exec_depend>rcss3d_agent_msgs</exec_depend>
+  <exec_depend>realsense2_camera_msgs</exec_depend>
+  <exec_depend>rmf_api_msgs</exec_depend>
+  <exec_depend>rmf_building_map_msgs</exec_depend>
+  <exec_depend>rmf_charger_msgs</exec_depend>
+  <exec_depend>rmf_dispenser_msgs</exec_depend>
+  <exec_depend>rmf_door_msgs</exec_depend>
+  <exec_depend>rmf_fleet_msgs</exec_depend>
+  <exec_depend>rmf_ingestor_msgs</exec_depend>
+  <exec_depend>rmf_lift_msgs</exec_depend>
+  <exec_depend>rmf_obstacle_msgs</exec_depend>
+  <exec_depend>rmf_scheduler_msgs</exec_depend>
+  <exec_depend>rmf_site_map_msgs</exec_depend>
+  <exec_depend>rmf_task_msgs</exec_depend>
+  <exec_depend>rmf_traffic_msgs</exec_depend>
+  <exec_depend>rmf_visualization_msgs</exec_depend>
+  <exec_depend>rmf_workcell_msgs</exec_depend>
+  <exec_depend>robot_calibration_msgs</exec_depend>
+  <exec_depend>rosapi_msgs</exec_depend>
+  <exec_depend>rosbridge_msgs</exec_depend>
+  <exec_depend>rosgraph_msgs</exec_depend>
+  <exec_depend>rviz_2d_overlay_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>shape_msgs</exec_depend>
+  <exec_depend>smacc2_msgs</exec_depend>
+  <exec_depend>soccer_vision_2d_msgs</exec_depend>
+  <exec_depend>soccer_vision_3d_msgs</exec_depend>
+  <exec_depend>soccer_vision_attribute_msgs</exec_depend>
+  <exec_depend>statistics_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>stereo_msgs</exec_depend>
+  <exec_depend>system_modes_msgs</exec_depend>
+  <exec_depend>teleop_tools_msgs</exec_depend>
+  <exec_depend>tf2_msgs</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+  <exec_depend>turtlebot3_msgs</exec_depend>
+  <exec_depend>ublox_msgs</exec_depend>
+  <exec_depend>ublox_ubx_msgs</exec_depend>
+  <exec_depend>udp_msgs</exec_depend>
+  <exec_depend>unique_identifier_msgs</exec_depend>
+  <exec_depend>ur_dashboard_msgs</exec_depend>
+  <exec_depend>ur_msgs</exec_depend>
+  <exec_depend>urg_node_msgs</exec_depend>
+  <exec_depend>velodyne_msgs</exec_depend>
+  <exec_depend>vision_msgs</exec_depend>
+  <exec_depend>vision_msgs_layers</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
+  <exec_depend>webots_ros2_msgs</exec_depend>
+  <exec_depend>wiimote_msgs</exec_depend>
+
+  <!-- Additional interfaces. -->
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>composition_interfaces</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
+  <exec_depend>ros_gz_interfaces</exec_depend>
+  <exec_depend>rosbag2_interfaces</exec_depend>
+  <exec_depend>type_description_interfaces</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
@@ -0,0 +1,73 @@
+name: pj-bridge
+adopt-info: pj_bridge   # version and grade derived from git tags (see pj_bridge part)
+version: git
+title: PlotJuggler Bridge
+summary: ROS2 to WebSocket bridge server — forwards topic content at 50 Hz
+license: AGPL-3.0
+contact: https://github.com/PlotJuggler/plotjuggler_bridge/issues
+issues: https://github.com/PlotJuggler/plotjuggler_bridge/issues
+source-code: https://github.com/PlotJuggler/plotjuggler_bridge
+website: https://github.com/PlotJuggler/plotjuggler_bridge
+description: >
+  ROS 2 bridge server that forwards middleware topic content over WebSocket to
+  PlotJuggler clients and any other WebSocket consumer.
+
+  Clients subscribe to topics and receive ZSTD-compressed aggregated messages at
+  50 Hz without needing a full middleware installation.
+
+  Call the snap with:
+    pj-bridge.pj-bridge-ros2 --ros-args -p port:=9090
+
+confinement: strict
+base: core24
+
+# ROS 2 typesupport and middleware libraries are loaded via dlopen at runtime
+# by the ROS 2 plugin system; the library linter cannot detect this.
+lint:
+  ignore:
+    - library
+
+parts:
+  pj_bridge:
+    plugin: colcon
+    source: .
+    override-pull: |
+      craftctl default
+      # Version/grade from git tag: clean tag -> stable, ahead of tag -> devel.
+      git config --global --add safe.directory '*'
+      version="$(git describe --always --tags | sed -e 's/^v//;s/-/+git/;y/-/./')"
+      if echo "$version" | grep -q '+git'; then grade=devel; else grade=stable; fi
+      craftctl set version="$version"
+      craftctl set grade="$grade"
+    build-packages:
+      - git
+      - libssl-dev
+      - zlib1g-dev
+
+  snap-dependencies:
+    # A separate manifest keeps the broad runtime dependencies (msgs & rmw)
+    plugin: colcon
+    source: snap/local
+    after: [pj_bridge]
+    colcon-packages: [pj_bridge_snap]
+    stage:
+      - -opt/ros/snap/local_setup.sh
+      - -opt/ros/snap/setup.sh
+
+  fastrtps-config:
+    plugin: dump
+    source: snap/local
+    organize:
+      fastrtps_no_shm.xml: etc/pj-bridge/fastrtps_no_shm.xml
+    stage:
+      - etc/pj-bridge/fastrtps_no_shm.xml
+
+apps:
+  pj-bridge-ros2:
+    command: opt/ros/snap/lib/pj_bridge/pj_bridge_ros2
+    extensions: [ros2-jazzy]
+    plugs:
+      - network
+      - network-bind
+    environment:
+      FASTRTPS_DEFAULT_PROFILES_FILE: $SNAP/etc/pj-bridge/fastrtps_no_shm.xml