ROS与javascript入门教程-ros3djs-可视化交互标记

ROS与javascript入门教程-ros3djs-可视化交互标记

说明：

介绍如何利用ros3djs进行可视化交互标记

步骤：

新建 interactive_markers.html
代码如下：

<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />

<script type="text/javascript" src="http://cdn.robotwebtools.org/threejs/current/three.min.js"></script>
<script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script type="text/javascript" src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
<script type="text/javascript" src="http://cdn.robotwebtools.org/ros3djs/current/ros3d.min.js"></script>

<script type="text/javascript" type="text/javascript">
  /**
   * Setup all visualization elements when the page is loaded.
   */
  function init() {
    // Connect to ROS.
    var ros = new ROSLIB.Ros({
      url : 'ws://localhost:9090'
    });

    // Create the main viewer.
    var viewer = new ROS3D.Viewer({
      divID : 'markers',
      width : 800,
      height : 600,
      antialias : true
    });

    // Setup a client to listen to TFs.
    var tfClient = new ROSLIB.TFClient({
      ros : ros,
      angularThres : 0.01,
      transThres : 0.01,
      rate : 10.0,
      fixedFrame : '/rotating_frame'
    });

    // Setup the marker client.
    var imClient = new ROS3D.InteractiveMarkerClient({
      ros : ros,
      tfClient : tfClient,
      topic : '/basic_controls',
      camera : viewer.camera,
      rootObject : viewer.selectableObjects
    });
  }
</script>
</head>

<body onload="init()">
  <h1>Simple Marker Example</h1>
  <div id="markers"></div>
</body>
</html>

代码解析：

代码段：

var viewer = new ROS3D.Viewer({
  divID : 'markers',
  width : 800,
  height : 600,
  antialias : true
});

解释：
- 创建ROS3D.Viewer对象，用于放置内容
代码段：

var tfClient = new ROSLIB.TFClient({
  ros : ros,
  angularThres : 0.01,
  transThres : 0.01,
  rate : 10.0,
  fixedFrame : '/rotating_frame'
});

解释：
- 创建ROSLIB.TFClien对象，订阅TF树的变换
代码段：

var imClient = new ROS3D.InteractiveMarkerClient({
  ros : ros,
  tfClient : tfClient,
  topic : '/basic_controls',
  camera : viewer.camera,
  rootObject : viewer.selectableObjects
});

解释：
- 创建ROS3D.InteractiveMarkerClient，用于显示交互内容

运行：

需要 interactive_marker_tutorials, interactive_marker_proxy, rosbridge_server和tf2_web_republisher包
服务器，新终端，运行

rosrun interactive_marker_tutorials basic_controls

服务器，新终端，运行

rosrun interactive_marker_proxy proxy topic_ns:=/basic_controls target_frame:=/rotating_frame

服务器，新终端，运行

rosrun tf2_web_republisher tf2_web_republisher

服务器，新终端，运行

roslaunch rosbridge_server rosbridge_websocket.launch

浏览器运行interactive_markers.html

参考：

http://wiki.ros.org/ros3djs/Tutorials/VisualizingInteractiveMarkers

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