Web Interface
Packages added/made for ROS
- ROSbridge (For connecting ROS to the local network)
- Realsense (For visual data as ROS topics)
- mission_pkg (Handles mission files)
- syntax_pkg (Checks mission for syntax errors when committing)
PUT IMAGE HERE
This is the how the basic structure is for the web interface.
TODO
Change launch lauch file name for camera.
Put in image for basic structure of the web interface.
realsens camera
To start of with we run the following command to reconfigure it to ros melodic:
sudo apt install ros-melodic-ddynamic-reconfigure
After that we can follow the guide given here, but i'll write my approach below https://github.com/IntelRealSense/realsense-ros#step-3-install-intel-realsense-ros-from-sources
Here the commands used to download and install the ros package can be seen:
cd ~/flexbot_ws/src/ git clone https://github.com/IntelRealSense/realsense-ros.git cd realsense-ros/ git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1` cd ~/flexbot_ws
At last we build and source it using
catkin_make source ~/flexbot_ws/devel/setup.sh
To launch it use, remember to source or be in the right directory before launch
roslaunch realsense2_camera rs_camera.launch
roslibjs
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/'
finalizing the server
Install apache to be able to access remotely :
sudo apt install apache2
No insert the desired HTML, CSS and javascript files into
/var/www/html/
At last create a script inside
/etc/network/if-up.d/
Which will be executed when connecting to a network. To ensure it not happening multiple times a flag is set when run the first time. The script can be seen in
/etc/network/if-up.d/robotAutoStart.sh
and has a hardlink file in ~/flexbot_ws to make it easily accessible
Web Interface - Interface for ROS and browser