ROS与javascript入门教程-ros3djs-可视化Map

ROS与javascript入门教程-ros3djs-可视化Map

说明：

介绍如何通过ros3djs可视化Map

github

参考代码

步骤：

新建map.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 : 'map',
      width : 800,
      height : 600,
      antialias : true
    });

    // Setup the map client.
    var gridClient = new ROS3D.OccupancyGridClient({
      ros : ros,
      rootObject : viewer.scene
    });
  }
</script>
</head>

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

代码解析：

代码段：

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

解释：创建ROS3D.Viewer对象，用于视图放置
代码段：

var gridClient = new ROS3D.OccupancyGridClient({
  ros : ros,
  rootObject : viewer.scene
});

解释：创建ROS3D.OccupancyGridClient对象，用于保存场景

运行：

需要 map_server, rail_maps, and rosbridge_server包
服务器，新终端，运行

rosrun map_server map_server /opt/ros/groovy/share/rail_maps/maps/ilab.pgm 0.05

服务器，新终端，运行

roslaunch rosbridge_server rosbridge_websocket.launch

浏览器运行map.html

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