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Note: This tutorial assumes that you have completed the previous tutorials: Pairing.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Run Interactions with Web Remocon

Description: shows start interactions via web remocon

Keywords: pairing, robot app manager, remocon

Tutorial Level: INTERMEDIATE

Overview

This tutorial describes how to start robot apps via Web Remocon. It assumes that you have started rocon_app_manager with Pairing, previous tutorial.

Prerequisite

Installation

rosbridge_server is required to use for web interactions.

  > sudo apt-get install ros-indigo-rosbridge-suite

Configure Interaction

This is interaction configuration for web interactions. It configures webapp to start, its role, paired app to be started in robot, and others. Please check Interaction Specification for more details. Example interactions are included in web.interactions in rocon_app_manager_tutorials.

   1 ###############################################################################
   2 # Web Pairing - to run/test these interactions see rocon_app_manager_tutorials
   3 ###############################################################################
   4 
   5 - name: web_url(http://wiki.ros.org/rocon_interactions)
   6   role: 'Web URLs'
   7   compatibility: rocon:/*/*/*/chrome|firefox|safari|opera|internet_explorer
   8   display_name: Ros Wiki - Interactions
   9   description: Documentation for rocon_interactions on the ros wiki
  10   icon:
  11     resource_name: rocon_bubble_icons/ros.png
  12 
  13 - name: web_app(http://webapp.robotconcert.org/rocon_web_common/example/listener.html)
  14   role: 'Web Apps'
  15   compatibility: rocon:/*/*/hydro|indigo/chrome|firefox
  16   display_name: Listener
  17   description: Simple listener using rosjs in a web app.
  18   icon:
  19     resource_name: rocon_bubble_icons/rocon.png
  20   parameters: 
  21     rosbridge_address: __ROSBRIDGE_ADDRESS__
  22     rosbridge_port: __ROSBRIDGE_PORT__
  23   remappings:
  24     - remap_from: /chatter
  25       remap_to: /babbler
  26   pairing:
  27     rapp: rocon_apps/talker
  28     remappings:
  29       - remap_from: chatter
  30         remap_to: /babbler

Execution

1. You NEED rosbridge_server to use web remocon and interactions. The following command also starts rosbridge.

  > roslaunch rocon_app_manager_tutorials web_pairing.launch --screen

2. Access Web Remocon(http://remocon.robotconcert.org)

alt text

3. Type in your rosbridge address. If it is default and you are opening browser with same PC, it is ws://localhost:9090.

alt text

4. Enjoy!

alt text

What's Next?


2019-09-21 13:04