ros2-web-bridge + cmd_vel_publisher in ROS2 foxy

Basically this package based on ros2_web_bridge pkg

please check https://github.com/RobotWebTools/ros2-web-bridge for the fundamental installation

Install

Prepare for ROS 2 Please reference the documentation to install ROS 2.
Install Node.js You can install Node.js:
- Download from Node.js offical website, and install it.
- Use the Node Version Manager (nvm) to install it.

Clone and install dependencies Note that a ROS 2 installation has to be sourced before installing dependencies.

$ git clone https://github.com/RobotWebTools/ros2-web-bridge.git
$ cd ros2-web-bridge
$ source /opt/ros/$DISTRO/setup.sh  # or a source installation
$ npm install

Run Examples

Make sure to source a ROS 2 installation, e.g.:

$ source /opt/ros/$DISTRO/setup.sh  # or a source installation

Start ros2-web-bridge module:
```
$ node bin/rosbridge.js
```
If you want to start in client mode (i.e. connecting the bridge to an existing websocket server), do this instead:
```
$ node bin/rosbridge.js --address ws://<address>:<port>
```
Start the express server:
```
$ cd examples && node index.js
```
Open your browser, and navigate to URL: http://localhost:3000/html/publisher.html

Example of publishing Cmd_vel and check local PC

Open your browser, and navigate to URL : (default) ws/example/html/cmd_vel_pub.html
Set Connection as same as your ws://
: and check the button "connect!" (default)_http://localhost:9090 (it can be changable as your flavor)
If you can see the connected sign, you are fully ready for sending the topic

(I took a test using turtlebot_node as the picture)

Subscribe to a topic.

// Define a topic with its type.
var example = new ROSLIB.Topic({
  ros : ros,
  name : '/example_topic',
  messageType : 'std_msgs/String'
});

// Subscribe to a topic.
example.subscribe(function(message) {
  console.log(`Receive message: ${message}`);
});

Contributing

If you want to contribute code to this project, first you need to fork the project. The next step is to send a pull request (PR) for review. The PR will be reviewed by the project team members. Once you have gained "Look Good To Me (LGTM)", the project maintainers will merge the PR.

License

This project abides by Apache License 2.0.