--- /dev/null
+<!doctype html>
+<!--
+ Server: python -m SimpleHTTPServer
+ Bridge: roslaunch rosbridge_server rosbridge_websocket.launch
+-->
+<html>
+ <head>
+ <meta charset="utf-8" />
+
+ <link rel="stylesheet" href="https://maxcdn.bootstrapcdn.com/bootstrap/4.0.0-beta.2/css/bootstrap.min.css" integrity="sha384-PsH8R72JQ3SOdhVi3uxftmaW6Vc51MKb0q5P2rRUpPvrszuE4W1povHYgTpBfshb" crossorigin="anonymous">
+ <link rel="stylesheet" type="text/css" href="https://code.jquery.com/ui/1.12.1/themes/base/jquery-ui.css" />
+
+ <script type="text/javascript">
+ function init() {
+ var ros = new ROSLIB.Ros();
+ ros.connect('ws://wildthumper:9090');
+ var isDragging = false;
+
+ ros.on('connection', function() {
+ $("#information").append(`
+ <div class="alert alert-dismissible alert-success">
+ <span data-dismiss="alert">Connected to websocket server.</span>
+ </div>
+ `);
+ });
+
+ ros.on('error', function(error) {
+ $("#information").append(`
+ <div class="alert alert-dismissible alert-danger">
+ <span data-dismiss="alert">Error connecting to websocket server.</span>
+ </div>
+ `);
+ });
+
+ ros.on('close', function() {
+ $("#information").append(`
+ <div class="alert alert-dismissible alert-info">
+ <span data-dismiss="alert">Connection to websocket server closed.</span>
+ </div>
+ `);
+ });
+
+ //tfClient.subscribe('base_link', function(tf) {
+ // var now = new Date();
+ // $("#pose").text(now.toLocaleTimeString() + ": (" + tf.translation.x + ", " + tf.translation.y + ")");
+
+ // robotMarker.x = tf.translation.x;
+ // robotMarker.y = -tf.translation.y;
+ // robotMarker.rotation = viewer2D.scene.rosQuaternionToGlobalTheta(tf.rotation);
+ //});
+ var poseTopic = new ROSLIB.Topic({ros: ros, name: '/robot_pose', messageType : 'geometry_msgs/Pose'});
+ var sensorTopic = new ROSLIB.Topic({ros: ros, name: '/sensors', messageType : 'wild_thumper/Sensor'});
+ var batteryTopic = new ROSLIB.Topic({ros: ros, name: '/battery', messageType : 'sensor_msgs/BatteryState'});
+
+ poseTopic.subscribe(function(message) {
+ var now = new Date();
+ $("#pose").text(now.toLocaleTimeString() + ": (" + message.position.x + ", " + message.position.y + ")");
+ });
+
+ sensorTopic.subscribe(function(message) {
+ sensordiv = $("#sensors")
+ sensordiv.find("input[name=light]").val(message.light);
+ sensordiv.find("input[name=temp]").val(message.temp.toFixed(1));
+ sensordiv.find("input[name=humidity]").val(message.humidity);
+ sensordiv.find("input[name=pressure]").val(message.pressure.toFixed(1));
+ sensordiv.find("input[name=co]").val(message.co);
+ });
+
+ itest = 123.4556;
+ batteryTopic.subscribe(function(message) {
+ powerdiv = $("#power");
+ powerdiv.find("input[name=voltage]").val(message.voltage.toFixed(1));
+ powerdiv.find("input[name=current]").val(message.current.toFixed(1));
+ });
+
+ viewer2D = new ROS2D.Viewer({
+ divID: 'map',
+ width: 640,
+ height: 480,
+ background: "#efefef"
+ });
+ $('#map')
+ .bind('mousewheel', function(e) {
+ if (e.originalEvent.wheelDelta/120 > 0) {
+ viewer2D.scaleToDimensions(10, 10)
+ } else {
+ viewer2D.scaleToDimensions(5, 5)
+ }
+ })
+ .mousedown(function() {
+ isDragging = true;
+ mousePreX = undefined;
+ mousePreY = undefined;
+ })
+ .mouseup(function() {
+ isDragging = false;
+ })
+ .mousemove(function(event) {
+ if (isDragging) {
+ if (mousePreX != undefined && mousePreY != undefined) {
+ var diffX = event.pageX - mousePreX;
+ var diffY = event.pageY - mousePreY;
+ console.log("Moving viewer2D by " + diffX + ", " + diffY);
+ viewer2D.shift(diffX, diffY);
+ }
+ mousePreX = event.pageX;
+ mousePreY = event.pageY;
+ }
+ });
+
+ // Setup the nav client.
+ NAV2D.OccupancyGridClientNav({
+ ros : ros,
+ rootObject : viewer2D.scene,
+ viewer : viewer2D,
+ serverName : '/move_base'
+ });
+
+ // Initialize the teleop.
+ var teleop = new KEYBOARDTELEOP.Teleop({
+ ros : ros,
+ topic : '/cmd_vel'
+ });
+
+ // Create a UI slider using JQuery UI.
+ $('#speed-slider').slider({
+ range : 'min',
+ min : 0,
+ max : 100,
+ value : 50,
+ slide : function(event, ui) {
+ // Change the speed label.
+ $('#speed-label').html('Speed: ' + ui.value + '%');
+ // Scale the speed.
+ teleop.scale = (ui.value / 100.0);
+ }
+ });
+
+ // Set the initial speed.
+ $('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + '%');
+ teleop.scale = ($('#speed-slider').slider('value') / 100.0);
+ }
+ </script>
+ </head>
+ <body onload="init()">
+ <div class="container-fluid">
+ <div id="information">
+ </div>
+
+ <nav class="navbar navbar-expand-lg navbar-light bg-light">
+ <a class="navbar-brand" href="#">Wild Thumper</a>
+ <ul class="nav nav-tabs" role="tablist">
+ <li class="nav-item">
+ <a class="nav-link active" href="#data" data-toggle="tab" role="tab">Data</a>
+ </li>
+ <li class="nav-item">
+ <a class="nav-link" href="#navigation" data-toggle="tab" role="tab">Navigation</a>
+ </li>
+ </ul>
+ </nav>
+ <div class="tab-content">
+ <div id="data" class="tab-pane active" role="tabpanel">
+ <div class="row">
+ <div id="power" class="col-auto">
+ <h4>Power</h4>
+ <label>Voltage:</label>
+ <div class="input-group">
+ <input type=text name="voltage" class="form-control" readonly>
+ <div class="input-group-addon">V</div>
+ </div>
+ <label>Current:</label>
+ <div class="input-group">
+ <input type=text name="current" class="form-control" readonly>
+ <div class="input-group-addon">A</div>
+ </div>
+ </div>
+ <div id="sensors" class="col-auto">
+ <h4>Sensors</h4>
+ <label>Light:</label>
+ <div class="input-group">
+ <input type=text name="light" class="form-control" readonly>
+ <div class="input-group-addon">lx</div>
+ </div>
+ <label>Temperature:</label>
+ <div class="input-group">
+ <input type=text name="temp" class="form-control" readonly>
+ <div class="input-group-addon">℃</div>
+ </div>
+ <label>Humidity:</label>
+ <div class="input-group">
+ <input type=text name="humidity" class="form-control" readonly>
+ <div class="input-group-addon">%</div>
+ </div>
+ <label>Pressure:</label>
+ <div class="input-group">
+ <input type=text name="pressure" class="form-control" readonly>
+ <div class="input-group-addon">kPa</div>
+ </div>
+ <label>CO:</label>
+ <input type=text name="co" class="form-control" readonly>
+ </div>
+ </div>
+ </div>
+ <div id="navigation" class="tab-pane" role="tabpanel">
+ <div id="pose"></div>
+ <div id="map"></div>
+ <div id="speed-label"></div>
+ <div id="speed-slider"></div>
+ </div>
+ </div>
+ </div>
+ <script src="https://code.jquery.com/jquery-3.2.1.min.js"></script>
+ <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.12.3/umd/popper.min.js" integrity="sha384-vFJXuSJphROIrBnz7yo7oB41mKfc8JzQZiCq4NCceLEaO4IHwicKwpJf9c9IpFgh" crossorigin="anonymous"></script>
+ <script src="https://maxcdn.bootstrapcdn.com/bootstrap/4.0.0-beta.2/js/bootstrap.min.js" integrity="sha384-alpBpkh1PFOepccYVYDB4do5UnbKysX5WZXm3XxPqe5iKTfUKjNkCk9SaVuEZflJ" crossorigin="anonymous"></script>
+ <script src="https://code.jquery.com/ui/1.12.1/jquery-ui.min.js"></script>
+ <script src="http://static.robotwebtools.org/EaselJS/current/easeljs.min.js"></script>
+ <script src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.js"></script>
+ <script src="http://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
+ <script src="http://static.robotwebtools.org/ros2djs/current/ros2d.js"></script>
+ <script src="http://static.robotwebtools.org/nav2djs/current/nav2d.js"></script>
+ <script src="http://static.robotwebtools.org/keyboardteleopjs/current/keyboardteleop.js"></script>
+ </body>
+</html>
projects / ros_wild_thumper.git / blobdiff