• ROS的roslibjs基本功能使用测试

    文章目录

    小结

    成功测试了roslibjs的基本功能。

    进行roslibjs的安装

    安装nodejs

    john@ubuntu:~$ sudo apt-get install nodejs

john@ubuntu:~$ sudo apt-get install npm

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    安装roslibjs

    john@ubuntu:~/roslibjs$ pwd
/home/john/roslibjs
john@ubuntu:~/roslibjs$ 
john@ubuntu:~$ git clone https://github.com/RobotWebTools/roslibjs.git
john@ubuntu:~/roslibjs$ npm install
#提示需要执行npm audit fix
john@ubuntu:~/roslibjs$ npm audit fix
#重新安装
john@ubuntu:~/roslibjs$ npm install

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    这里的主要测试html的代码是simple.html, 参考https://github.com/RobotWebTools/roslibjs/blob/develop/examples/simple.html

    


"utf-8" />







  
    Simple roslib Example
    
  
    Run the following commands in the terminal then refresh this page. Check the JavaScript
    console for the output.
    
  
      
    
    1. roscore
      2. 
    
    2. rostopic pub /listener std_msgs/String "Hello, World"
      3. 
    
    3. rostopic echo /cmd_vel
      4. 
    
    4. rosrun rospy_tutorials add_two_ints_server
      5. 
    
    5. roslaunch rosbridge_server rosbridge_websocket.launch
      6. 
  
    
  
    "statusIndicator">
    
    "connecting">
      Connecting to rosbridge...
    
    
    
    "connected" style="color:#00D600; display:none">
      Connected
    
    
    
    "error" style="color:#FF0000; display:none">
      Error in the backend!
    
    
    
    "closed" style="display:none">
      Connection closed.
    
    
  
    



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    进行测试

    将文件file:///home/john/roslibjs/examples/simple.html拖入到Firefox中去，打开后Firefox窗口中有如下显示：

    Simple roslib Example

    1. roscore
    2. rostopic pub /listener std_msgs/String “Hello, World”
    3. rostopic echo /cmd_vel
    4. rosrun rospy_tutorials add_two_ints_server
    5. roslaunch rosbridge_server rosbridge_websocket.launch

    Connected

    经过测试后，命令行的输出如下(开不同的窗口)：
    启动roscore:

    john@ubuntu:~$ roscore
... logging to /home/john/.ros/log/9ce7d29e-119b-11ed-ad09-9d6885123387/roslaunch-ubuntu-14886.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:45603/
ros_comm version 1.15.14


SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES

auto-starting new master
process[master]: started with pid [14895]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to 9ce7d29e-119b-11ed-ad09-9d6885123387
process[rosout-1]: started with pid [14906]
started core service [/rosout]


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    rostopic pub /listener std_msgs/String "Hello, World"输出：

    john@ubuntu:~$ rostopic pub /listener std_msgs/String "Hello, World"
publishing and latching message. Press ctrl-C to terminate

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    监测/cmd_vel的输出，接收simple.html的输入：

    john@ubuntu:~$ rostopic echo /cmd_vel
WARNING: topic [/cmd_vel] does not appear to be published yet
linear: 
  x: 0.1
  y: 0.2
  z: 0.3
angular: 
  x: -0.1
  y: -0.2
  z: -0.3
---

`roslaunch rosbridge_server rosbridge_websocket.launch`的输出：
```shell
john@ubuntu:~$ roslaunch rosbridge_server rosbridge_websocket.launch
... logging to /home/john/.ros/log/9ce7d29e-119b-11ed-ad09-9d6885123387/roslaunch-ubuntu-15411.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:43691/

SUMMARY
========

PARAMETERS
 * /rosapi/params_glob: [*]
 * /rosapi/services_glob: [*]
 * /rosapi/topics_glob: [*]
 * /rosbridge_websocket/address: 0.0.0.0
 * /rosbridge_websocket/authenticate: False
 * /rosbridge_websocket/bson_only_mode: False
 * /rosbridge_websocket/delay_between_messages: 0
 * /rosbridge_websocket/fragment_timeout: 600
 * /rosbridge_websocket/max_message_size: None
 * /rosbridge_websocket/params_glob: [*]
 * /rosbridge_websocket/port: 9090
 * /rosbridge_websocket/retry_startup_delay: 5
 * /rosbridge_websocket/services_glob: [*]
 * /rosbridge_websocket/topics_glob: [*]
 * /rosbridge_websocket/unregister_timeout: 10
 * /rosbridge_websocket/use_compression: False
 * /rosbridge_websocket/websocket_external_port: None
 * /rosbridge_websocket/websocket_ping_interval: 0
 * /rosbridge_websocket/websocket_ping_timeout: 30
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)

ROS_MASTER_URI=http://localhost:11311

process[rosbridge_websocket-1]: started with pid [15432]
process[rosapi-2]: started with pid [15434]
2022-08-01 21:13:32+0800 [-] Log opened.
[INFO] [1659359612.771473]: Rosapi started
2022-08-01 21:13:32+0800 [-] registered capabilities (classes):
2022-08-01 21:13:32+0800 [-]  - <class 'rosbridge_library.capabilities.call_service.CallService'>
2022-08-01 21:13:32+0800 [-]  - <class 'rosbridge_library.capabilities.advertise.Advertise'>
2022-08-01 21:13:32+0800 [-]  - <class 'rosbridge_library.capabilities.publish.Publish'>
2022-08-01 21:13:32+0800 [-]  - <class 'rosbridge_library.capabilities.subscribe.Subscribe'>
2022-08-01 21:13:32+0800 [-]  - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
2022-08-01 21:13:32+0800 [-]  - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'>
2022-08-01 21:13:32+0800 [-]  - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'>
2022-08-01 21:13:32+0800 [-]  - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'>
2022-08-01 21:13:33+0800 [-] WebSocketServerFactory starting on 9090
2022-08-01 21:13:33+0800 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0x7fe5550d17f0>
2022-08-01 21:13:33+0800 [-] [INFO] [1659359613.034557]: Rosbridge WebSocket server started at ws://0.0.0.0:9090
2022-08-01 21:43:13+0800 [-] [INFO] [1659361393.971597]: Client connected.  1 clients total.
2022-08-01 21:43:14+0800 [-] [ERROR] [1659361394.318899]: [Client 0] [id: advertise:/tf2_web_republisher/goal:1] advertise: Unable to load the manifest for package tf2_web_republisher. Caused by: tf2_web_republisher
2022-08-01 21:43:14+0800 [-] ROS path [0]=/opt/ros/noetic/share/ros
2022-08-01 21:43:14+0800 [-] ROS path [1]=/home/john/jetmax/src
2022-08-01 21:43:14+0800 [-] ROS path [2]=/home/john/catkin_ws/src
2022-08-01 21:43:14+0800 [-] ROS path [3]=/opt/ros/noetic/share
2022-08-01 21:43:15+0800 [-] [ERROR] [1659361395.049878]: [Client 0] [id: subscribe:/tf2_web_republisher/feedback:3] subscribe: Unable to load the manifest for package tf2_web_republisher. Caused by: tf2_web_republisher
2022-08-01 21:43:15+0800 [-] ROS path [0]=/opt/ros/noetic/share/ros
2022-08-01 21:43:15+0800 [-] ROS path [1]=/home/john/jetmax/src
2022-08-01 21:43:15+0800 [-] ROS path [2]=/home/john/catkin_ws/src
2022-08-01 21:43:15+0800 [-] ROS path [3]=/opt/ros/noetic/share
2022-08-01 21:43:15+0800 [-] [ERROR] [1659361395.054902]: [Client 0] [id: publish:/tf2_web_republisher/goal:4] publish: Cannot infer topic type for topic /tf2_web_republisher/goal as it is not yet advertised
2022-08-01 21:43:20+0800 [-] [INFO] [1659361400.824869]: Client disconnected. 0 clients total.
2022-08-01 21:43:21+0800 [-] [INFO] [1659361401.006295]: Client connected.  1 clients total.
2022-08-01 21:43:21+0800 [-] [ERROR] [1659361401.142243]: [Client 1] [id: advertise:/tf2_web_republisher/goal:1] advertise: Unable to load the manifest for package tf2_web_republisher. Caused by: tf2_web_republisher
2022-08-01 21:43:21+0800 [-] ROS path [0]=/opt/ros/noetic/share/ros
2022-08-01 21:43:21+0800 [-] ROS path [1]=/home/john/jetmax/src
2022-08-01 21:43:21+0800 [-] ROS path [2]=/home/john/catkin_ws/src
2022-08-01 21:43:21+0800 [-] ROS path [3]=/opt/ros/noetic/share
2022-08-01 21:43:21+0800 [-] [ERROR] [1659361401.146786]: [Client 1] [id: subscribe:/tf2_web_republisher/feedback:3] subscribe: Unable to load the manifest for package tf2_web_republisher. Caused by: tf2_web_republisher
2022-08-01 21:43:21+0800 [-] ROS path [0]=/opt/ros/noetic/share/ros
2022-08-01 21:43:21+0800 [-] ROS path [1]=/home/john/jetmax/src
2022-08-01 21:43:21+0800 [-] ROS path [2]=/home/john/catkin_ws/src
2022-08-01 21:43:21+0800 [-] ROS path [3]=/opt/ros/noetic/share
2022-08-01 21:43:21+0800 [-] [ERROR] [1659361401.154688]: [Client 1] [id: publish:/tf2_web_republisher/goal:4] publish: Cannot infer topic type for topic /tf2_web_republisher/goal as it is not yet advertised
2022-08-01 21:45:54+0800 [-] [INFO] [1659361554.937012]: Client disconnected. 0 clients total.
2022-08-01 21:45:55+0800 [-] [INFO] [1659361555.125830]: Client connected.  1 clients total.
2022-08-01 21:45:55+0800 [-] [ERROR] [1659361555.218223]: [Client 2] [id: advertise:/tf2_web_republisher/goal:1] advertise: Unable to load the manifest for package tf2_web_republisher. Caused by: tf2_web_republisher
2022-08-01 21:45:55+0800 [-] ROS path [0]=/opt/ros/noetic/share/ros
2022-08-01 21:45:55+0800 [-] ROS path [1]=/home/john/jetmax/src
2022-08-01 21:45:55+0800 [-] ROS path [2]=/home/john/catkin_ws/src
2022-08-01 21:45:55+0800 [-] ROS path [3]=/opt/ros/noetic/share
2022-08-01 21:45:55+0800 [-] [ERROR] [1659361555.223203]: [Client 2] [id: subscribe:/tf2_web_republisher/feedback:3] subscribe: Unable to load the manifest for package tf2_web_republisher. Caused by: tf2_web_republisher
2022-08-01 21:45:55+0800 [-] ROS path [0]=/opt/ros/noetic/share/ros
2022-08-01 21:45:55+0800 [-] ROS path [1]=/home/john/jetmax/src
2022-08-01 21:45:55+0800 [-] ROS path [2]=/home/john/catkin_ws/src
2022-08-01 21:45:55+0800 [-] ROS path [3]=/opt/ros/noetic/share
2022-08-01 21:45:55+0800 [-] [ERROR] [1659361555.227773]: [Client 2] [id: publish:/tf2_web_republisher/goal:4] publish: Cannot infer topic type for topic /tf2_web_republisher/goal as it is not yet advertised
2022-08-01 21:46:22+0800 [-] [INFO] [1659361582.056263]: Client disconnected. 0 clients total.
2022-08-01 21:46:26+0800 [-] [INFO] [1659361586.740728]: Client connected.  1 clients total.
2022-08-01 21:46:26+0800 [-] [INFO] [1659361586.873740]: [Client 3] Subscribed to /listener
2022-08-01 21:46:26+0800 [-] [INFO] [1659361586.910506]: [Client 3] Advertised service /set_bool.
2022-08-01 21:46:26+0800 [-] [INFO] [1659361586.959539]: [Client 3] Unsubscribed from /listener
2022-08-01 21:50:56+0800 [-] [INFO] [1659361856.983826]: Client disconnected. 0 clients total.
2022-08-01 21:50:57+0800 [-] [INFO] [1659361857.427746]: Client connected.  1 clients total.
2022-08-01 21:50:57+0800 [-] [INFO] [1659361857.462512]: [Client 4] Subscribed to /listener
2022-08-01 21:50:57+0800 [-] [WARN] [1659361857.465272]: [Client 4] Duplicate service advertised. Overwriting /set_bool.
2022-08-01 21:50:57+0800 [-] [INFO] [1659361857.481433]: [Client 4] Advertised service /set_bool.
2022-08-01 21:50:57+0800 [-] [INFO] [1659361857.527972]: [Client 4] Unsubscribed from /listener


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    rosrun rospy_tutorials add_two_ints_server的输出，进行了1+2=3的服务调用：

    john@ubuntu:~$ rosrun rospy_tutorials add_two_ints_server
Returning [1 + 2 = 3]


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    Ctrl + Shift + K 打开Firefox的Console窗口，在Firefox的console窗口里有以下输出，与simple.html的源代码匹配，测试成功。

    Connection closed. simple.html:32:13
Connection made! simple.html:24:13
Result for service call on /add_two_ints: 3 simple.html:108:13
Received message on /listener: Hello, World simple.html:82:13
Array(27) [ "/run_id", "/roslaunch/uris/host_ubuntu__45603", "/roslaunch/uris/host_ubuntu__43691", "/rosversion", "/rosdistro", "/rosbridge_websocket/authenticate", "/rosbridge_websocket/port", "/rosbridge_websocket/address", "/rosbridge_websocket/retry_startup_delay", "/rosbridge_websocket/fragment_timeout", … ]
​
0: "/run_id"
​
1: "/roslaunch/uris/host_ubuntu__45603"
​
2: "/roslaunch/uris/host_ubuntu__43691"
​
3: "/rosversion"
​
4: "/rosdistro"
​
5: "/rosbridge_websocket/authenticate"
​
6: "/rosbridge_websocket/port"
​
7: "/rosbridge_websocket/address"
​
8: "/rosbridge_websocket/retry_startup_delay"
​
9: "/rosbridge_websocket/fragment_timeout"
​
10: "/rosbridge_websocket/delay_between_messages"
​
11: "/rosbridge_websocket/max_message_size"
​
12: "/rosbridge_websocket/unregister_timeout"
​
13: "/rosbridge_websocket/use_compression"
​
14: "/rosbridge_websocket/websocket_ping_interval"
​
15: "/rosbridge_websocket/websocket_ping_timeout"
​
16: "/rosbridge_websocket/websocket_external_port"
​
17: "/rosbridge_websocket/topics_glob"
​
18: "/rosbridge_websocket/services_glob"
​
19: "/rosbridge_websocket/params_glob"
​
20: "/rosbridge_websocket/bson_only_mode"
​
21: "/rosbridge_websocket/actual_port"
​
22: "/rosapi/topics_glob"
​
23: "/rosapi/services_glob"
​
24: "/rosapi/params_glob"
​
25: "/favorite_color"
​
26: "/max_vel_y"
​
length: 27
​
<prototype>: Array []
simple.html:133:13
MAX VAL: 0.8 simple.html:145:13
My robot's favorite color is red simple.html:158:13


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    参考

    解决在Ubuntu安装nodejs，roslibjs时出现的问题
    关于js和ros进行交互roslibjs
    Basic ROS functionality with roslibjs
    https://github.com/RobotWebTools/roslibjs/blob/develop/examples/simple.html
    SIMPLE TUTORIAL ON ROSBRIDGE AND ROSLIBJS
    ROS与javascript入门教程-roslibjs-基本功能

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  • 原文地址：https://blog.csdn.net/scruffybear/article/details/126112107