ROS与javascript入门教程-mjpegcanvasjs-多视频显示

ROS与javascript入门教程-mjpegcanvasjs-多视频显示

说明：

介绍如何通过mjpegcanvasjs实现多视频显示

步骤：

新建Multi-Stream.html
代码如下：

<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script type="text/javascript" src="http://cdn.robotwebtools.org/mjpegcanvasjs/current/mjpegcanvas.min.js"></script>

<script type="text/javascript" type="text/javascript">
  /**
   * Setup all visualization elements when the page is loaded. 
   */
  function init() {
    // Create the main viewer.
    var viewer = new MJPEGCANVAS.MultiStreamViewer({
      divID : 'mjpeg',
      host : 'localhost',
      width : 640,
      height : 480,
      topics : [ '/wide_stereo/left/image_color', '/l_forearm_cam/image_color', '/r_forearm_cam/image_color' ],
      labels : [ 'Robot View', 'Left Arm View', 'Right Arm View' ]
    });
  }
</script>
</head>

<body onload="init()">
  <h1>Multi-Stream MJPEG Canvas Example</h1>
  <div id="mjpeg"></div>
</body>
</html>

代码解析：

代码段：

var viewer = new MJPEGCANVAS.MultiStreamViewer({
  divID : 'mjpeg',
  host : 'localhost',
  width : 640,
  height : 480,
  topics : [ '/wide_stereo/left/image_color', '/l_forearm_cam/image_color', '/r_forearm_cam/image_color' ],
  labels : [ 'Robot View', 'Left Arm View', 'Right Arm View' ]
});

解释：
- 创建MJPEGCANVAS.MultiStreamViewer对象，用于显示多个图像话题
- 分别显示 /wide_stereo/left/image_color和/l_forearm_cam/image_color和/r_forearm_cam/image_color

运行：

需要 pr2_simulator 和mjpeg_server包
服务器，新终端，运行

roslaunch pr2_gazebo pr2_empty_world.launch

服务器，新终端，运行

rosrun mjpeg_server mjpeg_server

浏览器访问Multi-Stream.html

参考：

http://wiki.ros.org/mjpegcanvasjs/Tutorials/CreatingAMultiStreamCanvas

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