@robot-web-tools/ros3djs
Version:
The standard ROS Javascript Visualization Library
64 lines (58 loc) • 1.79 kB
HTML
<html>
<head>
<meta charset="utf-8" />
<script src="http://cdn.robotwebtools.org/threejs/current/three.js"></script>
<script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
<script src="../build/ros3d.js"></script>
<script>
/**
* Setup all visualization elements when the page is loaded.
*/
function init() {
// Connect to ROS.
var ros = new ROSLIB.Ros({
url : 'ws://localhost:9090'
});
// Create the main viewer.
var viewer = new ROS3D.Viewer({
divID : 'markers',
width : 800,
height : 600,
antialias : true,
alpha : 0.5
});
// Setup a client to listen to TFs.
var tfClient = new ROSLIB.TFClient({
ros : ros,
angularThres : 0.01,
transThres : 0.01,
rate : 10.0,
fixedFrame : '/rotating_frame'
});
// Setup the marker client.
var imClient = new ROS3D.InteractiveMarkerClient({
ros : ros,
tfClient : tfClient,
topic : '/basic_controls',
camera : viewer.camera,
rootObject : viewer.selectableObjects
});
}
</script>
</head>
<body onload="init()">
<h1>Simple Interactive Marker Example</h1>
<p>Run the following commands in the terminal then refresh this page.</p>
<ol>
<li><tt>roscore</tt></li>
<li><tt>rosrun interactive_marker_tutorials basic_controls</tt></li>
<li><tt>rosrun interactive_marker_proxy proxy topic_ns:=/basic_controls
target_frame:=/rotating_frame</tt></li>
<li><tt>rosrun tf2_web_republisher tf2_web_republisher</tt></li>
<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
</ol>
<div id="markers"></div>
</body>
</html>