roswasm_webgui is a library for writing web GUIs for ROS using roswasm and imgui. It also provides example web interfaces, one of which is used for our underwater robot. The resulting web pages are built using wasm and have been tested using Chrome and Firefox.
The code has been adapted from the WebGui example by jnmaloney.
The latest rosbridge_suite is needed
to get the effective cbor-raw encoding when subscribing to messages in the browser.
You will need to get the latest rosbridge_suite (see below).
But to get all its dependencies, it's easiest to just install the binary package first:
sudo apt install ros-melodic-rosbridge-suite
For some reason, I've seen problems where you also need to install the bson and tornado
python libraries. These should already be pulled in by the above command. If not, do:
sudo apt install python-bson python-tornado
First clone the latest rosbridge_suite to your catkin workspace:
git clone https://github.com/RobotWebTools/rosbridge_suite
Then compile that aswell as this package within the catkin workspace, source and launch using
roslaunch roswasm_webgui example.launch
Then navigate to localhost:8080 to the see the webpage.
If you want to get some more interesting stuff to play with, try launching with mon launch instead. roswasm_webgui has good facilities for remote launching using this tool. The example tmux startup script demonstrates how the tool can be used to remotely start up a system.
First clone the latest rosbridge_suite to your catkin workspace:
git clone https://github.com/RobotWebTools/rosbridge_suite
Then compile that aswell as this package within the catkin workspace, source and launch using
roslaunch roswasm_webgui sam_webgui.launch namespace:=sam1
Then navigate to localhost:8080 to the see the webpage.
If you want the page on SAM's computer(the jetson/xavier) with IP 1.2.3.4(this is SAM's IP) to be accessible from
another computer(this is the computer on your lap) on the network, you have to provide another parameter:
roslaunch roswasm_webgui sam_webgui.launch rosbridge_ip:=1.2.3.4 namespace:=sam1
You will then be able to access the page from another computer on
the network at the address 1.2.3.4:8080.
To build the wasm files that are served by this package, you need to download,
activate and source the emscripten sdk. The code has been tested with version 1.39.10 of emscripten.
Then, you need to get the roswasm submodule by typing git submodule init --update within this folder.
If you just want to build the example with std_msgs, simply
build it inside this folder by typing make. For the AUV
specific page, you need to also clone sam_common
and build the package, and also replace the hardcoded include
path in the make file.
To build the AUV specific file, type make sam.