#ROS Web Pages#

ROS tools for your browser. Powered by RobotWebTools' roslibjs, Bootstrap and some other libraries. Developped at IntRoLab.

Please note that this project in still unstable.

##Introduction##

the ROS Web Pages are designed to be displayed on computers, tablets and smartphones. Smartphones and tablets are primary targets since you can't access ROS on those and it fills a need to see what's going on the robot without having to go back to a workstation.

It's the reason why we use Bootstrap (responsive version) as main design for the web pages.

Supported on:

• Computer OS:
  • Ubuntu: Firefox and Chromium.
  • Windows: Both Chrome and Firefox should be fine. Internet Explorer* was never tested.
  • MacOSX: TO BE TESTED but should be fine since Iphone/Ipad work
• Mobile OS:
  • IOS: Worked great on Safari on Iphones 3GS and 5 and Ipad 2
  • Android: Chrome and Firefox. Not working on some default browsers.
  • Windows Phone: WILL BE TESTED THE DAY I HAVE ACCESS TO ONE

Please use recent version of your browsers.

##How to run## This project needs at least rosbridge, rosapi and roswww to be running. Once it's good you can access the index page from:

http://{ROS_MASTER_IP}:{ROSWWW_PORT}/roswebpages/

For example, when running on localhost and without changing roswww port:

http://localhost/roswebpages/

##Pages##

###Command-line tools###

• rosnode: List nodes and get informations. Displays subscriptions, publications and services provided.
• rostopic: List topics, subscribe, publish and get informations.
  • list: You can either search for topics or list them (not recommended when there are too many).
  • subscribe: Don't display large data.
  • publish: Use JSON parsing to fill objects.
  • information: Display subscribers and publishers along their hosts.
• rosparam: List parameters names and values in a table. Sorting and filtering is possible (which is very cool when you robot has 1300+ parameters).
• rosservice: Working very like rostopic, you can call services.

###TF###

• view_frames: Display the TF tree. Colors depends on last time a frame was broadcasted.
• tf_echo: Like the command-line tool, listen to the transform between two frames. This one need tf2_web_republisher to be running.

###Display###

• image_view: Watch sensor_msgs/Image topics. It needs mjpeg_server to be running. ROS connection is not mandatory on this page, it is used to provide a valid list of watchable topics.
• map_view: NOT WORKING

###Other###

• logger: Display ROS logs from /rosout in a table. Like with parameters, sorting and filtering is availables. Text colors depend on levels (debug, info, warning, error and fatal).
• action_client: Designed to be a generic action client. It gives you a list of avalaible action servers, you can then create a client, send a goal and watch feedback and results.

##Boilerplate##

Want to create ROS web pages for your project or robot? Check out the roswebpages_boilerplate. You can copy and rename the package. It should contain enough to get you started.

##Dependencies##

All dependencies are directly included in the project.

• Datatables: Super useful for displaying logs and parameters. This plugin enable easy filtering, sorting and pagination of datas. There is also a plugin to make it work on bootstrap's tables.

• RaphaelJS: Cool library to draw in Javascript. We use it in the view_frames page.