Introduction

Web demo app for ROS Conference 2018

Hardware:

• Intel Up-board Squared
• TurtleBot3 Burger
• USB Wi-Fi adpater
• An available wireless network
• Node.js 8.11.4 installed

Pre-condition

• Ubuntu Linux 16.04 installed on Up-board Squared
• ROS2 release package available

Setup

Install MicroRTPSAgent

$ git clone https://github.com/eProsima/micro-RTPS-agent.git
$ cd micro-RTPS-agent
$ mkdir build && cd build
$ cmake -DTHIRDPARTY=ON ..
$ make
$ sudo make install

Install ros2-web-bridge

$ source <path/to/ros2-linux>/local_setup.bash
$ git clone https://github.com/RobotWebTools/ros2-web-bridge.git
$ cd ros2-web-bridge
$ npm install

Install http-server CLI tools

$ npm install -g http-server

Run the demo

Start up MicroRTPSAgent

New a terminal session, run

$ cd /usr/local/bin
$ ./MicroRTPSAgent serial /dev/ttyACM0

Start up the web bridge server

New a terminal session, run

$ source <path/to/ros2-linux>/local_setup.bash
$ cd ros2-web-bridge
$ export DEBUG=ros2-web-bridge:*
$ node bin/rosbridge.js

Host the web demo app

New a terminal session and run

$ cd ros2-web-bridge/demo
$ http-server -c-1

Try to control the robot remotely

Now you can put the TurtleBot3 robot on the ground. Let another PC be in the same wireless network, then launch the browser and enter: http://<up-board ip>:8080. After the page loaded, you can press the Up/Left/Right/Down buttons to control the robot remotely.

Known limitation:

If you shutdown the MicroRTPSAgent utility, you have to reset the OpenCR before you launch it again.