roslib
Version:
The standard ROS Javascript Library
92 lines (83 loc) • 2.83 kB
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
// -----------------
var ros = new ROSLIB.Ros({
// set this to false to use the new service interface to
// tf2_web_republisher. true is the default and means roslibjs
// will use the action interface
groovyCompatibility : true
});
// If there is an error on the backend, an 'error' emit will be emitted.
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.
ros.connect('ws://localhost:9090');
// TF Client
// ---------
var tfClient = new ROSLIB.TFClient({
ros : ros,
fixedFrame : 'world',
angularThres : 0.01,
transThres : 0.01
});
// Subscribe to a turtle.
tfClient.subscribe('turtle1', function(tf) {
console.log(tf);
});
</script>
</head>
<body>
<h1>Simple TF 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>roslaunch turtle_tf turtle_tf_demo.launch</tt>
</li>
<li><tt>rosrun tf2_web_republisher tf2_web_republisher</tt>
</li>
<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt>
</li>
<li>Use your arrow keys on your keyboard to move the turtle (must have <tt>turtle_tf_demo.launch</tt>
terminal focused).</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>