web-ws

Setup

• build docker container: ./docker_build.sh
• run docker container: ./docker_run.sh
• source underlay: source source.sh
• in the /web-ws directory, create a /src folder
  • clone web_video_server package: git clone -b ros2 https://github.com/RobotWebTools/web_video_server
  • clone the simple publisher/subcriber from ros2 tutorial (for String message testing)
• navigate back to /web-ws directory
  • colcon build --symlink-install
• deprecated errors of the web_video_server package are ok

Launch file

• run: ros2 launch launch/launch_all.py
• This launch file launches:
  • two middlewares
    • web_video_server (ros2 run web_video_server web_video_server)
    • rosbridge (ros2 launch rosbridge_server rosbridge_websocket_launch.xml)
  • a rosbag (shared for all team members in Onedrive): ros2 bag play -l <rosbag_name>
  • simple publisher node for String message with counter
  • publish a Twist message
  • publish an Int16 message (number of balls)
  • publish a Bool message (on/off)
  • a turtlesim node & change its background rgb values

Node JS

• Run NodeJS from the docker container: node app.js

Access website:

• check IP address of the host: ifconfig for Linux
• NodeJS runs on port 3000
• Open a web browser, type on address bar: <HostIP>:3000