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Merge pull request #5 from chameau5050/ros2
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Update gif250 to gro525
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@IanLalonde
IanLalonde authored Oct 7, 2024
2 parents a9b6948 + 13d8949 commit ab95a27
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Showing 2 changed files with 172 additions and 174 deletions.
96 changes: 47 additions & 49 deletions racecar_bringup/launch/gif250.launch.py → racecar_bringup/launch/gro525.launch.py
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@@ -1,49 +1,47 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetLaunchConfiguration
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription
from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
# Get the package directories
rosbridge_server_pkg_share_dir = get_package_share_directory('rosbridge_server')
web_video_server_pkg_share_dir = get_package_share_directory('web_video_server')
racecar_web_interface_pkg_share_dir = get_package_share_directory('racecar_web_interface')

port_argument = DeclareLaunchArgument(
'port', default_value='9090',
description='Port for rosbridge websocket'
)


# Launch rosbridge_websocket_launch.xml from rosbridge_server package
rosbridge_launch = IncludeLaunchDescription(
XMLLaunchDescriptionSource([rosbridge_server_pkg_share_dir, '/launch/rosbridge_websocket_launch.xml']),
launch_arguments={'port': '9090'}.items()
)

#Launch web_video_server node from web_video_server package
web_video_server_node = Node(
package='web_video_server',
executable='web_video_server',
name='web_video_server',
output='screen',
parameters=[{'address': '10.42.0.1'}] # Set the address parameter to "10.42.0.1"
)

# Launch ros2_publisher_camera node from racecar_web_interface package
ros2_publisher_camera_node = Node(
package='racecar_web_interface',
executable='ros2_publisher_camera',
name='ros2_publisher_camera',
output='screen'
)

return LaunchDescription([
port_argument,
rosbridge_launch,
web_video_server_node,
ros2_publisher_camera_node
])
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetLaunchConfiguration
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription
from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
# Get the package directories
rosbridge_server_pkg_share_dir = get_package_share_directory('rosbridge_server')
web_video_server_pkg_share_dir = get_package_share_directory('web_video_server')
racecar_web_interface_pkg_share_dir = get_package_share_directory('racecar_web_interface')
racecar_bringup_pkg_share_dir = get_package_share_directory('racecar_bringup')

port_argument = DeclareLaunchArgument(
'port', default_value='9090',
description='Port for rosbridge websocket'
)


# Launch rosbridge_websocket_launch.xml from rosbridge_server package
bringup_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([racecar_bringup_pkg_share_dir, '/launch/bringup.launch.py'])
)

# Launch rosbridge_websocket_launch.xml from rosbridge_server package
rosbridge_launch = IncludeLaunchDescription(
XMLLaunchDescriptionSource([rosbridge_server_pkg_share_dir, '/launch/rosbridge_websocket_launch.xml']),
launch_arguments={'port': '9090'}.items()
)

#Launch web_video_server node from web_video_server package
web_video_server_node = Node(
package='web_video_server',
executable='web_video_server',
name='web_video_server',
output='screen',
parameters=[{'address': '10.42.0.1'}] # Set the address parameter to "10.42.0.1"
)

return LaunchDescription([
bringup_launch,
port_argument,
rosbridge_launch,
web_video_server_node,
])
250 changes: 125 additions & 125 deletions racecar_web_interface/www/index.html
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@@ -1,125 +1,125 @@
<!doctype html>
<html>
<!--
==References==
Server-side:
* http://docs.ros.org/indigo/api/roswww/html/
* http://wiki.ros.org/web_video_server
* http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge
Client-side:
* http://wiki.ros.org/roslibjs/Tutorials/BasicRosFunctionality
* https://getbootstrap.com/docs/4.0/getting-started/introduction/
* https://getbootstrap.com/docs/4.0/layout/grid/
* https://github.com/jeromeetienne/virtualjoystick.js
-->

<head>
<!-- Required meta tags -->
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">

<!-- Bootstrap CSS -->
<link rel="stylesheet" href="css/bootstrap.min.css">
<link rel="stylesheet" href="css/dashboard.css">

<title>Laboratoire S5-GIF250</title>

</head>

<body>

<!-- Menu BEGIN-->
<div class="collapse" id="navbarToggleExternalContent">
<div class="bg-dark p-4">
<h6 class="text-white h4">Configuration</h6>
</div>
</div>

<nav class="navbar navbar-dark bg-dark">
<div>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarToggleExternalContent">
<span class="navbar-toggler-icon"></span>
</button>
</div>
</nav>
<!-- Menu END-->

<!-- Main layout BEGIN-->
<div class="container-fluid">

</div>

<!-- JavaScript, import frameworks -->
<!-- jQuery first, then Popper.js, then Bootstrap JS -->
<script src="js/jquery-3.3.1.slim.min.js"></script>
<script src="js/popper.min.js"></script>
<script src="js/bootstrap.min.js"></script>
<script src="js/virtualjoystick.js"></script>
<script src="js/roslib.min.js"></script> <!-- rosbridge -->

<!-- Custom scripts -->
<script>
// Define some global variables
var rbServer = null;
var cmdVelTopic = null;

//Some initializations after the page has been shown
$(document).ready(function(){
document.getElementById("log").value = 'Default text\n'
});

// Define some functions
function connectROS() {

// This function connects to the rosbridge server running on the local computer on port 9090
rbServer = new ROSLIB.Ros({
url : 'ws://' + rosMasterIp + ':9090'
});

rbServer.on('connection', function() {
console.log('Connected to websocket server.');

// These lines create a topic object as defined by roslibjs
cmdVelTopic = new ROSLIB.Topic({
ros : rbServer,
name : '/racecar/cmd_vel_abtr_2',
messageType : 'geometry_msgs/Twist'
});
});

rbServer.on('error', function(error) {
console.log('Error connecting to websocket server: ', error);
});

rbServer.on('close', function() {
console.log('Connection to websocket server closed.');
});
}


// These lines create a message that conforms to the structure of the Twist defined in our ROS installation
// It initalizes all properties to zero. They will be set to appropriate values before we publish this message.
var twist = new ROSLIB.Message({
linear : {
x : 0.0,
y : 0.0,
z : 0.0
},
angular : {
x : 0.0,
y : 0.0,
z : 0.0
}
});

setInterval(function(){
if(cmdVelTopic != null) {
// Publish the message
cmdVelTopic.publish(twist);
}
}, 200);

</script>
</body>
</html>
<!doctype html>
<html>
<!--
==References==
Server-side:
* http://docs.ros.org/indigo/api/roswww/html/
* http://wiki.ros.org/web_video_server
* http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge
Client-side:
* http://wiki.ros.org/roslibjs/Tutorials/BasicRosFunctionality
* https://getbootstrap.com/docs/4.0/getting-started/introduction/
* https://getbootstrap.com/docs/4.0/layout/grid/
* https://github.com/jeromeetienne/virtualjoystick.js
-->

<head>
<!-- Required meta tags -->
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">

<!-- Bootstrap CSS -->
<link rel="stylesheet" href="css/bootstrap.min.css">
<link rel="stylesheet" href="css/dashboard.css">

<title>Laboratoire S5-GRO525</title>

</head>

<body>

<!-- Menu BEGIN-->
<div class="collapse" id="navbarToggleExternalContent">
<div class="bg-dark p-4">
<h6 class="text-white h4">Configuration</h6>
</div>
</div>

<nav class="navbar navbar-dark bg-dark">
<div>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarToggleExternalContent">
<span class="navbar-toggler-icon"></span>
</button>
</div>
</nav>
<!-- Menu END-->

<!-- Main layout BEGIN-->
<div class="container-fluid">

</div>

<!-- JavaScript, import frameworks -->
<!-- jQuery first, then Popper.js, then Bootstrap JS -->
<script src="js/jquery-3.3.1.slim.min.js"></script>
<script src="js/popper.min.js"></script>
<script src="js/bootstrap.min.js"></script>
<script src="js/virtualjoystick.js"></script>
<script src="js/roslib.min.js"></script> <!-- rosbridge -->

<!-- Custom scripts -->
<script>
// Define some global variables
var rbServer = null;
var cmdVelTopic = null;

//Some initializations after the page has been shown
$(document).ready(function(){
document.getElementById("log").value = 'Default text\n'
});

// Define some functions
function connectROS() {

// This function connects to the rosbridge server running on the local computer on port 9090
rbServer = new ROSLIB.Ros({
url : 'ws://' + rosMasterIp + ':9090'
});

rbServer.on('connection', function() {
console.log('Connected to websocket server.');

// These lines create a topic object as defined by roslibjs
cmdVelTopic = new ROSLIB.Topic({
ros : rbServer,
name : '/prop_cmd',
messageType : 'geometry_msgs/Twist'
});
});

rbServer.on('error', function(error) {
console.log('Error connecting to websocket server: ', error);
});

rbServer.on('close', function() {
console.log('Connection to websocket server closed.');
});
}


// These lines create a message that conforms to the structure of the Twist defined in our ROS installation
// It initalizes all properties to zero. They will be set to appropriate values before we publish this message.
var twist = new ROSLIB.Message({
linear : {
x : 0.0,
y : 0.0,
z : 2.0 // SET Control mode to 2
},
angular : {
x : 0.0,
y : 0.0,
z : 0.0
}
});

setInterval(function(){
if(cmdVelTopic != null) {
// Publish the message
cmdVelTopic.publish(twist);
}
}, 200);

</script>
</body>
</html>

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