roslib
Version:
The standard ROS Javascript Library
85 lines (76 loc) • 2.56 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>
/**
* Setup all visualization elements when the page is loaded.
*/
function init() {
// Connect to ROS.
var ros = new ROSLIB.Ros({
url : 'ws://localhost:9090'
});
// Get the URDF value from ROS.
var param = new ROSLIB.Param({
ros : ros,
name : 'robot_description'
});
param.get(function(param) {
// Setup the loader for the URDF.
var urdfModel = new ROSLIB.UrdfModel({
string : param
});
console.log(urdfModel);
});
// 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';
});
}
</script>
</head>
<body onload="init()">
<h1>Simple URDF Parsing 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 pr2_description upload_pr2.launch</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>