ROS与javascript入门教程-nav2djs-2D导航组件

ROS与javascript入门教程-nav2djs-2D导航组件

说明：

介绍创建简单2D导航组件

步骤：

新建nav2d.html
代码如下：

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

<script type="text/javascript" src="http://cdn.robotwebtools.org/EaselJS/current/easeljs.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/ros2djs/current/ros2d.min.js"></script>
<script type="text/javascript" src="http://cdn.robotwebtools.org/nav2djs/current/nav2d.min.js"></script>

<script type="text/javascript">
  /**
   * Setup all GUI 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 ROS2D.Viewer({
      divID : 'nav',
      width : 750,
      height : 800
    });

    // Setup the nav client.
    var nav = NAV2D.OccupancyGridClientNav({
      ros : ros,
      rootObject : viewer.scene,
      viewer : viewer,
      serverName : '/pr2_move_base'
    });
  }
</script>
</head>

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

代码解析：

代码段：

var viewer = new ROS2D.Viewer({
  divID : 'nav',
  width : 750,
  height : 800
});

解释：
- 创建ROS2D.Viewer对象，用于放在导航地图

代码段：

 var nav = NAV2D.OccupancyGridClientNav({
  ros : ros,
  rootObject : viewer.scene,
  viewer : viewer,
  serverName : '/pr2_move_base'
});

解释：
- 创建NAV2D.OccupancyGridClientNav对象，用于获取导航地图内容

运行：

需要安装pr2_simulator, rosbridge_server, pr2_2dnav, willow_maps, 和robot_pose_publisher包
服务器，新终端，运行gazebo

roslaunch pr2_gazebo pr2_wg_world.launch

服务器，新终端，运行

export ROBOT=sim
rosrun map_server map_server /opt/ros/xxx/stacks/wg_common/willow_maps/willow-sans-whitelab-2010-02-18-0.025.pgm 0.025

服务器，新终端，运行

roslaunch pr2_2dnav pr2_2dnav.launch

服务器，新终端，运行

roslaunch pr2_tuckarm tuck_arms.launch

服务器，新终端，运行

rosrun robot_pose_publisher robot_pose_publisher

服务器，新终端，运行

roslaunch rosbridge_server rosbridge_websocket.launch

浏览器运行nav2d.html

参考：

http://wiki.ros.org/nav2djs/Tutorials/CreatingABasicNav2DWidget

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