Web Teleop

This node package provides the teleoperation interface to HLP-R. It uses rosnodejs as the ROS interface, ws as the websocket interface, and express as the HTTP server. The package is designed to work with hlpr_node_server.

Running

With hlpr_node_server (Recommended)

1. Add this folder (you may symlink) to the apps directory of hlpr_node_server.
2. Run npm install in the root directory of hlpr_node_server.
3. Run npm start in the root directory of hlpr_node_server and navigate to the address http://localhost:8000/teleop.

Without hlpr_node_server (Not Recommended)

(I really don't recommend it, but if you absolutely must, then copy the server.js in hlpr_node_server).

Files Overview

html: Contains a single teleoperation page template that is hydrated by react using the code in js.

static: CSS, images, fonts.

js:

1. interface.jsx: React code defining the components for the teleoperation interface. The list of components defined in this file are:
   • Interface: The overarching component
   • Header: The navbar header for the page
   • Main: The wrapper for the components that follow, which actually display the interface. Main uses react-router to decide the component to display.
   • HomePage: The root page of the static page
   • KinectPage: Component with interface to the teleop of the Kinect.
   • BasePage: Component with the interface to teleop the robot base.
   • GripperPage: Component with the interface to the teleop of the gripper.
2. teleop.js: Entrypoint into the components in the previous file when rendered on the web browser.

ros: Exports classes. For the interface methods to these classes, simply inspect the code; it's quite straightforward.

1. teleop.js: Exports an object that is designed to provide a teleop interface in ROS. You need to call obj.initialize(node_handle) on the object with a ROS node handle in order to use it.
2. status.js: Exports an object that uses the event emitter interface to notify the web components of events in ROS. Just like teleop.js, it can be used once obj.initialize(node_handle) is called.

routes.js: A factory module to setup the main express route to serve the HTML template and the static pages. To initialize the router object, pass initialized objects of the type ros/teleop.js and ros/status.js.

ws.js: A factory module that sets up the Websocket endpoints for teleoperation. To initialize the endpoint, pass initialized objects of the type ros/teleop.js and ros/status.js.