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Writing a simple 3D visualization for rosjs

Description: This tutorial covers using rosjs to write a simple 3D visualization in the browser.

Tutorial Level: BEGINNER

Next Tutorial: Write a simple action client using rosjs

Contents


The following tutorial shows how to create and use a visualization manager to create visualizations of ROS topics in Javascript.

<!DOCTYPE html>
<html>
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<title>rosjs Visualization Tutorial</title>

<!-- REQUIRED scripts for ROS -->
<script type="text/javascript" src="../wviz/js/jquery/jquery-latest.js"></script>
<script type="text/javascript" src="../wviz/js/spidergl/spidergl.js"></script>
<script type="text/javascript" src="../wviz/js/ros/ros.js"></script>
<script type="text/javascript" src="../wviz/js/ros/common.js"></script>
<script type="text/javascript" src="../wviz/js/ros/visualization/visualization.js"></script>

<script>

function start()
{
  //create a visualization manager
  var vm = new ros.visualization.VisualizationManager("WEBGL_CANVAS");

  // create a rosjs node handle
  var node = new ros.NodeHandle("ws://rtc.pr2-remotelab.com:9090");

  // set handler for onClose event
  node.setOnClose(function(e) {
    ros_debug("Disconnected or Can't Connect.");
  });

  // set handler for onError event
  node.setOnError(function(e) {
    ros_debug("Unknown error!");
  });

  //set handler for onOpen event
  node.setOnOpen(function(e) {
        // successfully connected to rosjs
    ros_debug("Connected to " + node.url + ".");
    // create a transform listener that subscribes to /tf messages
    var tf = new ros.tf.TransformListener(node, "/tf");
    // initialize visualization manager
    vm.initialize(node, tf);
    // add visualization nodes here...
    vm.addGrid("/odom_combined",10.0,1.0);
  });

  window.onresize = function() {
    var c = document.getElementById('WEBGL_CANVAS');
    c.width  = window.innerWidth;
    c.height = window.innerHeight;
  }
  window.onresize();
}
</script>


</head>
<body onload="start()" style="margin:0;padding:0;background-white;overflow:hidden">
<canvas id="WEBGL_CANVAS" width="1000" height="600"></canvas>
</body>
</html>

2019-12-14 13:03