This is a simple meteor app thats connects to a ROS Node running Turtlesim and draws a turtle's path as it moves. The connection is done using roslibJS (on the client-side) and ros-indigo-rosbridge-server (on the server-side).
The app should be run on a machine with Ubuntu 14.04 OS and the Meteor framework installed.
The backend should be run on a machine with Ubuntu 14.04 OS with ROS, Turtlesim and the rosbridge_suite installed.
Dependencies for each environment are detailed below, with links for each installation.
Make sure you have roscore, turtlesim and rosbridge running in the back-end. To do this, execute each of this commands in different terminals:
> roscore
> rosrun turtlesim turtlesim_node
> roslaunch rosbridge_server rosbridge_websocket.launch
You should now be ready to launch the app.
If you are not familiar with ROS, take a look a this tutorials. Same goes for rosbridge and this tutorial!
Clone this repository and run meteor:
> git clone https://github.com/luisbosch/ros-turtlesim-meteor.git
> cd ros-turtlesim-meteor
> meteor
After meteor launches the app, you can check it out in the browser at:
http://localhost:3000/
You can upload you own drawings in JSON format. The file consists of an array of instructions that will be executed in series. Each command has two properties:
li: is the linear velocity (draws a line)an: is the angular velocity (rotates)
Check out this simple example:
{
"commands": [
{
"li": "2.0",
"an": "0.0"
},
{
"li": "0.0",
"an": "2.0"
},
{
"li": "3.0",
"an": "0.0"
}
]
}Here we draw a line, then we rotate, and then we draw a longer line. Try it out and see what happens!
The url and port of the server to which roslibjs connects to the rosbridge can be configured in:
public/config.json
{
"connectionUrl": "ws://localhost:9090"
}The app connects to ws://localhost:9090 by default.
This is just a test, feel free to fork and use at your own risk! This repo is not maintained.