主要参考文章:
https://mp.weixin.qq.com/s/dWzBzn5UJN3KGgrhq1nvtA
一、下载相关功能包
ubuntu端
sudo apt-get install ros-kinetic-rosbridge-suite
git clone https://github.com/RobotWebTools/roslibjs.git
git clone https://github.com/RobotWebTools/ros2djs
git clone https://github.com/RobotWebTools/ros3djs
//ros2djs 和ros3djs 暂时未用到
尝试在windows系统下,使用web和ros连接
下载地址:
https://github.com/RobotWebTools/roslibjs
二、在ubuntu下使用web和ros连接
(1)使用第一步下载的roslibjs中的列子
/roslibjs/examples/simple.html
双击运行它
出现界面:
执行以下命令,开启rosbridge服务器,即可连接web
roslaunch rosbridge_server rosbridge_websocket.launch
执行以下命令
rosrun rospy_tutorials add_two_ints_server
rostopic echo /cmd_vel
刷新web端,出现
三、在windows端使用web和ros连接
要点:确保ubuntu端和windows端在一个局域网下,连接同一个wifi。
我使用的是虚拟机和主机连接,虚拟机选用桥接模式。
虚拟机ip地址:192.168.0.105
主机ip地址:192.168.0.100
ubuntu终端命令,开启rosbridge服务器,协议方式websocket:
roslaunch rosbridge_server rosbridge_websocket.launch
windows端,修改simple.html代码。
原来的代码
// Create a connection to the rosbridge WebSocket server.
ros.connect('ws://localhost:9090');
将localhost替换为虚拟机的ip地址即可。
修改为:
// Create a connection to the rosbridge WebSocket server.
ros.connect('ws://192.168.0.105:9090');
运行simple.html,发现已经连接了。
四、simple.html源码
!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="../build/roslib.js"></script>
<script>
// Connecting to ROS 与ros连接
// -----------------
var ros = new ROSLIB.Ros();
// If there is an error on the backend, an 'error' emit will be emitted. 出现错误,发出错误提醒
ros.on('error', function(error) {
document.getElementById('connecting').style.display = 'none';
document.getElementById('connected').style.display = 'none';
document.getElementById('closed').style.display = 'none';
document.getElementById('error').style.display = 'inline';
console.log(error);
});
// Find out exactly when we made a connection.
ros.on('connection', function() {
console.log('Connection made!');
document.getElementById('connecting').style.display = 'none';
document.getElementById('error').style.display = 'none';
document.getElementById('closed').style.display = 'none';
document.getElementById('connected').style.display = 'inline';
});
ros.on('close', function() {
console.log('Connection closed.');
document.getElementById('connecting').style.display = 'none';
document.getElementById('connected').style.display = 'none';
document.getElementById('closed').style.display = 'inline';
});
// Create a connection to the rosbridge WebSocket server.与rosbridge websocket 服务器连接,服务器位于ubuntu系统上
ros.connect('ws://localhost:9090');
// Publishing a Topic 发布话题
// ------------------
// First, we create a Topic object with details of the topic's name and message type. 创造一个话题对象,包含话题的名字和消息类型
var cmdVel = new ROSLIB.Topic({
ros : ros,
name : '/cmd_vel',
messageType : 'geometry_msgs/Twist'
});
// Then we create the payload to be published. The object we pass in to ros.Message matches the
// fields defined in the geometry_msgs/Twist.msg definition. message与"geometry_msgs定义中的字段匹配。 根据你要发布的话题类型来设置。
var twist = new ROSLIB.Message({
linear : {
x : 0.1,
y : 0.2,
z : 0.3
},
angular : {
x : -0.1,
y : -0.2,
z : -0.3
}
});
// And finally, publish.
cmdVel.publish(twist);
//Subscribing to a Topic 订阅一个话题
//----------------------
// Like when publishing a topic, we first create a Topic object with details of the topic's name
// and message type. Note that we can call publish or subscribe on the same topic object.
var listener = new ROSLIB.Topic({
ros : ros,
name : '/listener',
messageType : 'std_msgs/String'
});
// Then we add a callback to be called every time a message is published on this topic.
listener.subscribe(function(message) {
console.log('Received message on ' + listener.name + ': ' + message.data);
// If desired, we can unsubscribe from the topic as well.
listener.unsubscribe();
});
// Calling a service 调用服务
// -----------------
// First, we create a Service client with details of the service's name and service type.
var addTwoIntsClient = new ROSLIB.Service({
ros : ros,
name : '/add_two_ints',
serviceType : 'rospy_tutorials/AddTwoInts'
});
// Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the
// fields defined in the rospy_tutorials AddTwoInts.srv file.
var request = new ROSLIB.ServiceRequest({
a : 1,
b : 2
});
// Finally, we call the /add_two_ints service and get back the results in the callback. The result
// is a ROSLIB.ServiceResponse object.
addTwoIntsClient.callService(request, function(result) {
console.log('Result for service call on ' + addTwoIntsClient.name + ': ' + result.sum);
});
// Advertising a Service
// ---------------------
// The Service object does double duty for both calling and advertising services
var setBoolServer = new ROSLIB.Service({
ros : ros,
name : '/set_bool',
serviceType : 'std_srvs/SetBool'
});
// Use the advertise() method to indicate that we want to provide this service
setBoolServer.advertise(function(request, response) {
console.log('Received service request on ' + setBoolServer.name + ': ' + request.data);
response['success'] = true;
response['message'] = 'Set successfully';
return true;
});
// Setting a param value
// ---------------------
ros.getParams(function(params) {
console.log(params);
});
// First, we create a Param object with the name of the param.
var maxVelX = new ROSLIB.Param({
ros : ros,
name : 'max_vel_y'
});
//Then we set the value of the param, which is sent to the ROS Parameter Server.
maxVelX.set(0.8);
maxVelX.get(function(value) {
console.log('MAX VAL: ' + value);
});
// Getting a param value
// ---------------------
var favoriteColor = new ROSLIB.Param({
ros : ros,
name : 'favorite_color'
});
favoriteColor.set('red');
favoriteColor.get(function(value) {
console.log('My robot\'s favorite color is ' + value);
});
</script>
</head>
<body>
<h1>Simple roslib Example</h1>
<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
console for the output.</p>
<ol>
<li><tt>roscore</tt></li>
<li><tt>rostopic pub /listener std_msgs/String "Hello, World"</tt></li>
<li><tt>rostopic echo /cmd_vel</tt></li>
<li><tt>rosrun rospy_tutorials add_two_ints_server</tt></li>
<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
</ol>
<div id="statusIndicator">
<p id="connecting">
Connecting to rosbridge...
</p>
<p id="connected" style="color:#00D600; display:none">
Connected
</p>
<p id="error" style="color:#FF0000; display:none">
Error in the backend!
</p>
<p id="closed" style="display:none">
Connection closed.
</p>
</div>
</body>
</html>