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ROS + Bootstrap interface demo

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ROS + Bootstrap interface demo

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+ + + + + + + + + + + + + + diff --git a/config/caddy/content/bootstrap/webui.js b/config/caddy/content/bootstrap/webui.js new file mode 100644 index 0000000..9626f31 --- /dev/null +++ b/config/caddy/content/bootstrap/webui.js @@ -0,0 +1,139 @@ +// Begin by creating some global variables: + +var twist; +var cmdVel; +var publishImmidiately = true; +var robot_IP; +var manager; +var teleop; +var ros; + +// Write a function to send ROS messages with velocity for robot: + +function moveAction(linear, angular) { + if (linear !== undefined && angular !== undefined) { + twist.linear.x = linear; + twist.angular.z = angular; + } else { + twist.linear.x = 0; + twist.angular.z = 0; + } + cmdVel.publish(twist); +} + +// Write a function to create velocity message publisher: + +function initVelocityPublisher() { + // Init message with zero values. + twist = new ROSLIB.Message({ + linear: { + x: 0, + y: 0, + z: 0 + }, + angular: { + x: 0, + y: 0, + z: 0 + } + }); + // Init topic object + cmdVel = new ROSLIB.Topic({ + ros: ros, + name: '/cmd_vel', + messageType: 'geometry_msgs/Twist' + }); + // Register publisher within ROS system + cmdVel.advertise(); +} + +// Write a function to create keyboard controller object: +function initTeleopKeyboard() { + // Use w, s, a, d keys to drive your robot + + // Check if keyboard controller was aready created + if (teleop == null) { + // Initialize the teleop. + teleop = new KEYBOARDTELEOP.Teleop({ + ros: ros, + topic: '/cmd_vel' + }); + } + + // Add event listener for slider moves + robotSpeedRange = document.getElementById("robot-speed"); + robotSpeedRange.oninput = function () { + teleop.scale = robotSpeedRange.value / 100 + } +} + +// Write a function to create joystick object: +function createJoystick() { + // Check if joystick was aready created + if (manager == null) { + joystickContainer = document.getElementById('joystick'); + // joystck configuration, if you want to adjust joystick, refer to: + // https://yoannmoinet.github.io/nipplejs/ + var options = { + zone: joystickContainer, + position: { left: 50 + '%', top: 105 + 'px' }, + mode: 'static', + size: 200, + color: '#0066ff', + restJoystick: true + }; + manager = nipplejs.create(options); + // event listener for joystick move + manager.on('move', function (evt, nipple) { + // nipplejs returns direction is screen coordiantes + // we need to rotate it, that dragging towards screen top will move robot forward + var direction = nipple.angle.degree - 90; + if (direction > 180) { + direction = -(450 - nipple.angle.degree); + } + // convert angles to radians and scale linear and angular speed + // adjust if youwant robot to drvie faster or slower + var lin = Math.cos(direction / 57.29) * nipple.distance * 0.005; + var ang = Math.sin(direction / 57.29) * nipple.distance * 0.05; + // nipplejs is triggering events when joystic moves each pixel + // we need delay between consecutive messege publications to + // prevent system from being flooded by messages + // events triggered earlier than 50ms after last publication will be dropped + if (publishImmidiately) { + publishImmidiately = false; + moveAction(lin, ang); + setTimeout(function () { + publishImmidiately = true; + }, 50); + } + }); + // event litener for joystick release, always send stop message + manager.on('end', function () { + moveAction(0, 0); + }); + } +} + +// …and finally main app initialization: +window.onload = function () { + // determine robot address automatically + // robot_IP = location.hostname; + // set robot address statically + robot_IP = "100.105.121.16"; + + // // Init handle for rosbridge_websocket + ros = new ROSLIB.Ros({ + url: "ws://" + robot_IP + ":9090" + }); + + initVelocityPublisher(); + // get handle for video placeholder + video = document.getElementById('video'); + // Populate video source + video.src = "http://" + robot_IP + ":8080/stream?topic=/camera/rgb/image_raw&type=mjpeg&quality=80"; + video.onload = function () { + // joystick and keyboard controls will be available only when video is correctly loaded + createJoystick(); + initTeleopKeyboard(); + }; +} \ No newline at end of file