Web Interface: Difference between revisions
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This is the how the basic structure is for the web interface. | This is the how the basic structure is for the web interface. | ||
===Installing rosbridge=== | ===Installing rosbridge=== |
Revision as of 10:22, 30 January 2020
// TODO mention browser console
roslibjs
This is the how the basic structure is for the web interface.
Installing rosbridge
This library makes it possible to use ros commands with javascript over a chosen port. The first two lines goes to the source in the catkin workspace and creates a package for ros:
cd ~/flexbot_ws/src catkin_create_pkg robot_gui_bridge rosbridge_server
Next we install the rosbridge package
apt-get install ros-melodic-rosbridge-server
Now we create the launch file directory and the file used for launch
mkdir ~/flexbot_ws/src/robot_gui_bridge/launch touch ~/flexbot_ws/src/robot_gui_bridge/launch/websocket.launch
Now at last we write the the necessary launch commands into the file and source it so we can use it from any directory om this terminal:
echo '<launch> <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/></launch>' >> ~/flexbot_ws/src/robot_gui_bridge/launch/websocket.launch source ~/flexbot_ws/devel/setup.bash
To test if it works run and look for errors:
roslaunch robot_gui_bridge websocket.launch
Setting up the connection
First check if the following command gives multiple ip's if so find a way to extract the correct one:
hostname -I
Now to setup the client, which is the computer not on the robot, write the following 3 lines in your "~/.bashrc" script:
# write these inside ~/.bashrc export ROS_HOSTNAME='hostname -I' export ROS_IP="hostname -I" export ROS_MASTER_URI='http://flexbot.local:11311/'
Now to setup the server, which is the computer on the robot, write the following 2 lines in the "~/.bashrc" script:
# write these inside ~/.bashrc export ROS_IP=flexbot.local export ROS_MASTER_URI='http://flexbot.local:11311/'
Web Interface - Interface for ROS and browser