Installation

On Ubuntu,:

$ apt-get install ros-indigo-roswww

On other platform, download sourcecode into your Catkin workspace.

Usage

Simply run web server

To test if roswww can run on your machine and provide http server feature, run a web server from this package by simply running a launch file:

$ roslaunch roswww roswww.launch

Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tork-kudu1:48011/

SUMMARY

PARAMETERS
  • /rosdistro: indigo
  • /rosversion: 1.11.16
NODES
/
roswww (roswww/webserver.py)

auto-starting new master process[master]: started with pid [26851] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8482c492-96b5-11e5-bc2d-f816542d218e process[rosout-1]: started with pid [26864] started core service [/rosout] process[roswww-2]: started with pid [26867] 2015-11-29 08:23:27,191 - roswww - INFO - roswww : # of packages : 689 2015-11-29 08:23:27,191 - roswww - INFO - roswww : Weg Page root : www 2015-11-29 08:23:27,285 - roswww - INFO - roswww : Initialised 2015-11-29 08:23:27,285 - roswww - INFO - roswww : Attempting to start webserver on port 8085 2015-11-29 08:23:27,289 - roswww - INFO - roswww : Webserver successfully started on port 8085 WARNING:tornado.access:404 GET /favicon.ico (127.0.0.1) 1.60ms WARNING:tornado.access:404 GET /favicon.ico (127.0.0.1) 1.33ms

You can see a web page being published at http://localhost:%PORT_OF_YOURCHOICE%/ like below, which should show the list of ROS packages in your ROS_PACKAGE_PATH:

ROS web server successfully started.

Package List

abb_driver
abb_irb2400_moveit_plugins
abb_irb2400_support

Integrate into your ROS package

You can integrate web server capability from roswww by either launch file or python module.

Integrate by launch

Examples are also available in packages in visualization_rwt.

  1. In your own launch, include roswww.launch file. Customize arguments if necessary.
<arg name="name" default="www server for ros"/>
<arg name="port" default="8085"/> <!-- avoid to use apache default port -->
<arg name="webpath" default="www"/> <!-- relative path to the webroot. E.g. place this foloder in the ROS package root dir -->
<arg name="use_roswww" default="true" />
<include if="$(arg use_roswww)" file="$(find roswww)/launch/roswww.launch">
  <arg name="name" value="$(arg name)"/>
  <arg name="port" value="$(arg port)"/>
  <arg name="webpath" value="$(arg webpath)"/>
</include>
  1. Add <run_depend>roswww</run_depend> in your package.xml, to avoid “404 package not found” kind of error when you run.

Integrate by Python module

Use roswww.roswww_server.ROSWWWServer class to include the ROS web server capability into your Python package.

Sample

Static page

When you launch the roswww, you can access static pages(html) which are installed in share/%PACKAGE_NAME%/www folder through http://localhost:%PORT_OF_YOURCHOICE%/%PACKAGE_NAME%/%STATIC_PAGE%.html.

Simple talker and listener

To play with the rostopic, you can launch a simple talker and listener:

$ roslaunch roswww start_bridge.launch

You can send a message through ROS topic from http://localhost:%PORT_OF_YOURCHOICE%/roswww/talker.html. And also, you can subscribe the message on http://localhost:%PORT_OF_YOURCHOICE%/roswww/listener.html.

Chat

After launching start_bridge.launch, let’s open http://localhost:%PORT_OF_YOURCHOICE%/roswww/chat.html with a browser in two windows. Once you send a message from one of the windows, the message will be shown in both windows.

Support, communication