ohseejay/robonaut_web_apps

robonaut_web_apps

Setup

Repository Access

Let us assume that you have a fresh Ubuntu 14.04 install ready to go. You will need access to the following repositories.

• https://bitbucket.org/traclabs/affordance_templates
• https://bitbucket.org/nasa_ros_pkg/nasa_r2_common
• https://bitbucket.org/nasa_ros_pkg/nasa_r2_simulator
• https://bitbucket.org/traclabs/navigation_planner
• https://bitbucket.org/traclabs/robot_interaction_tools
• https://github.com/DLu/nasa_valves
• https://github.com/DLu/nasa_valves
• https://github.com/DLu/affordance_template_js
• https://github.com/DLu/robonaut_web_apps (this repo)

These setup instructions assume that you have SSH keys setup with both bitbucket and github, and that those security credentials are available on the machine you're installing on (either by copying the key to .ssh or using SSH Agent forwarding)

Download and run scripts

Run the following command to download two setup scripts.

• wget https://raw.githubusercontent.com/DLu/robonaut_web_apps/master/clone.bash

Then run it with

• bash clone.bash

Configure the javascript

Create a file called ~/public_html/config.js with the following contents:

var HOST='URL_OF_HOST';

where URL_OF_HOST is the public address of the server. This can be a URL such as HOST='chad.michigan.edu' or an IP address like HOST='192.168.1.20'.

Running the Web Apps

For all demos that simulate the robonaut, the first step will be to launch

roslaunch robonaut_web_apps gazebo.launch

If you want to have PointClouds appear, you will need to run this command with an X window.

The default command listed above launches the robonaut in an empty environment. To add the taskboard, add taskboard:=true. To spawn the robot in the International Space Station, add iss:=True

Gazebo has finished loading when you see the "All is well" message.

Robonaut Teleop

After launching Gazebo, launch

roslaunch robonaut_web_apps demo_robonaut.launch

Then navigate in a browser to URL_OF_HOST/r2.html.

Robonaut Affordance Templates

After launching Gazebo launch

roslaunch robonaut_web_apps demo_robonaut_wheel.launch

Then navigate in a browser to URL_OF_HOST/r2_at.html.

Point Cloud Bag Display

If you'd like to visualize a bag with PointCloud2 data in it, you need to launch

roslaunch robonaut_web_apps pc.launch bag:=/path/to/pointcloud.bag topic:=/camera/depth_registered/points frame:=/camera_rgb_optical_frame

where topic is the topic of the PointClou2 data and frame is the root frame of the data you'd like to display. Navigate in a browser to URL_OF_HOST/pc.html.

Acknowledgments

This work was supported in part by NASA grant NNX13AN07A.