Contents:
Table of Contents
Convenient tool to develop the web apps under ROS infrastructure
On Ubuntu,:
$ apt-get install ros-indigo-roswww
On other platform, download sourcecode into your Catkin workspace.
To test if roswww can run on your machine and provide http server feature, run a web server from this package by simply running a launch file:
$ roslaunch roswww roswww.launch
Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://tork-kudu1:48011/
SUMMARY
- PARAMETERS
- /rosdistro: indigo
- /rosversion: 1.11.16
- NODES
- /
- roswww (roswww/webserver.py)
auto-starting new master process[master]: started with pid [26851] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 8482c492-96b5-11e5-bc2d-f816542d218e process[rosout-1]: started with pid [26864] started core service [/rosout] process[roswww-2]: started with pid [26867] 2015-11-29 08:23:27,191 - roswww - INFO - roswww : # of packages : 689 2015-11-29 08:23:27,191 - roswww - INFO - roswww : Weg Page root : www 2015-11-29 08:23:27,285 - roswww - INFO - roswww : Initialised 2015-11-29 08:23:27,285 - roswww - INFO - roswww : Attempting to start webserver on port 8085 2015-11-29 08:23:27,289 - roswww - INFO - roswww : Webserver successfully started on port 8085 WARNING:tornado.access:404 GET /favicon.ico (127.0.0.1) 1.60ms WARNING:tornado.access:404 GET /favicon.ico (127.0.0.1) 1.33ms
You can see a web page being published at http://localhost:%PORT_OF_YOURCHOICE%/ like below, which should show the list of ROS packages in your ROS_PACKAGE_PATH:
ROS web server successfully started. Package List abb_driver abb_irb2400_moveit_plugins abb_irb2400_support
You can integrate web server capability from roswww by either launch file or python module.
Examples are also available in packages in visualization_rwt.
- In your own launch, include roswww.launch file. Customize arguments if necessary.
<arg name="name" default="www server for ros"/> <arg name="port" default="8085"/> <!-- avoid to use apache default port --> <arg name="webpath" default="www"/> <!-- relative path to the webroot. E.g. place this foloder in the ROS package root dir --> <arg name="use_roswww" default="true" /> <include if="$(arg use_roswww)" file="$(find roswww)/launch/roswww.launch"> <arg name="name" value="$(arg name)"/> <arg name="port" value="$(arg port)"/> <arg name="webpath" value="$(arg webpath)"/> </include>
- Add <run_depend>roswww</run_depend> in your package.xml, to avoid "404 package not found" kind of error when you run.
Use roswww.roswww_server.ROSWWWServer class to include the ROS web server capability into your Python package.
When you launch the roswww, you can access static pages(html) which are installed in share/%PACKAGE_NAME%/www folder through http://localhost:%PORT_OF_YOURCHOICE%/%PACKAGE_NAME%/%STATIC_PAGE%.html.
To play with the rostopic, you can launch a simple talker and listener:
$ roslaunch roswww start_bridge.launch
You can send a message through ROS topic from http://localhost:%PORT_OF_YOURCHOICE%/roswww/talker.html. And also, you can subscribe the message on http://localhost:%PORT_OF_YOURCHOICE%/roswww/listener.html.
After launching start_bridge.launch, let's open http://localhost:%PORT_OF_YOURCHOICE%/roswww/chat.html with a browser in two windows. Once you send a message from one of the windows, the message will be shown in both windows.
To enable basic authentication, start a launch file with a basic and basic_yaml arguments
$ roslaunch roswww roswww.launch basic:=true basic_yaml:=%PATH_TO_YAML_FILE%
The example of %PATH_TO_YAML_FILE% like below, which a dictionary of %USER_NAME% and %PASSWORD.
# example passwrod file user: password
- ROS Answers for questions.
- Issue tracker for issues.
- You could also ask ROS-web related discussions on robot-web-tools ML. Note that roswww is an individual tool from robot-web-tools.