/fetch_web_ws

This is the repo for Fetch Web Control Panel based on Robot Web Tools for Humanoid Robotics class.

Primary LanguagePython

Web UI (Drop-in Replacement for RVIZ)

Setup

These commands install the rosbridge server and the tf-to-web republisher; both packages must exist for visualization to show.

sudo apt-get install ros-<rosdistro>-rosbridge-server
sudo apt-get install ros-<rosdistro>-tf2-web-republisher

Running

Run these commands in sequeunce to start the websocket server and properly publish tf via websocket to the browser

rosrun tf2_web_republisher tf2_web_republisher
roslaunch rosbridge_server rosbridge_websocket.launch

Note that the socket server is running on port 9090 by default.

In the directory of the this project, run

python -m SimpleHTTPServer 8080

Visit localhost:8080 to see everything up and running

PointCloud

Install Packages:

  • rosbridge_server
  • tf2_web_republisher
  • openni_camera
  • ros_web_video
  • depth_image_proc
  • depthcloud_encoder

We might also have to install openni_launch, which is not included in the official documentation

http://wiki.ros.org/ros3djs/Tutorials/Point%20Cloud%20Streaming%20from%20a%20Kinect

Run

roslaunch openni_launch openni.launch depth_registration:=true
rosrun ros_web_video ros_web_video _port:=9999 _framerate:=15 _bitrate:=250000 _profile:=best www_file_server:=true _wwwroot:=http://cdn.robotwebtools.org/ros3djs/current/ros3d.min.js

rosrun nodelet nodelet standalone depth_image_proc/convert_metric image_raw:=/head_camera/depth_registered/image_raw image:=/head_camera/depth_registered/image
rosrun depthcloud_encoder depthcloud_encoder_node _depth:=/head_camera/depth_registered/image _rgb:=/head_camera/rgb/image_rect_color

# the following should be the right way
rosrun ros_web_video ros_web_video _port:=9999 _framerate:=15 _bitrate:=250000 _profile:=best www_file_server:=true _wwwroot:=~/ros/grasp_ws/web-ui/pointcloud


catkin_init_workspace
catkin_make