@robot-web-tools/ros3djs
Version:
The standard ROS Javascript Visualization Library
69 lines (61 loc) • 2.08 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/threejs/current/ColladaLoader.js"></script>
<script src="http://cdn.robotwebtools.org/threejs/current/STLLoader.js"></script>
<script src="http://cdn.robotwebtools.org/ColladaAnimationCompress/current/ColladaLoader2.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 : 'urdf',
width : 800,
height : 600,
antialias : true
});
// Add a grid.
viewer.addObject(new ROS3D.Grid());
// Setup a client to listen to TFs.
var tfClient = new ROSLIB.TFClient({
ros : ros,
angularThres : 0.01,
transThres : 0.01,
rate : 10.0
});
// Setup the URDF client.
var urdfClient = new ROS3D.UrdfClient({
ros : ros,
tfClient : tfClient,
path : 'http://resources.robotwebtools.org/',
rootObject : viewer.scene,
loader : ROS3D.COLLADA_LOADER
});
}
</script>
</head>
<body onload="init()">
<h1>Simple URDF Example</h1>
<p>Run the following commands in the terminal then refresh this page.</p>
<ol>
<li><tt>roslaunch pr2_description upload_pr2.launch</tt></li>
<li><tt>rosrun robot_state_publisher robot_state_publisher</tt></li>
<li><tt>rosparam set use_gui true</tt></li>
<li><tt>rosrun joint_state_publisher joint_state_publisher</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="urdf"></div>
</body>
</html>