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I have developed ROS Web Services to provide new abstractions to ROS using SOAP and REST Web services. The objective was to provide an additional software abstraction layer on top of ROS to allow a seamless interaction with ROS even for non-roboticians. We can say that ROS Web services is another alternative to rosbridge and rosjs which use the Web to interact with ROS. 

Using ROS Web services layer allow any developer with no background on robotics to develop Web service client (SOAP or REST) to monitor and control ROS-enabled robot through simple interfaces.  

A paper presenting ROS Web services  is published in The Journal of Software Engineering for Robotics. In the paper, I present an object-oriented design of software meta-models for the integration of both Web services into ROS and we validate it through a real implementation on a service robot. Implementation was performed using ROSJAVA under Hyrdo version.

 
A brief description is also available here. 

I still did not release the code due to lack of time, but should post it on GITHUB soon. Any comment on this will be welcome. We are working now on extending ROS Web services with new features and we plan to apply them in ROS-enabled drones.