RosNavJs

ROSLIB EXAMPLE

Topic names

'turtlebot':{
    serverName:'/move_base',
    cmdName:'/cmd_vel_mux/input/teleop',
    planName:'/move_base/NavfnROS/plan',

},'pr2':{
    serverName:'/pr2_move_base',
    cmdName:'/cmd_vel',
    planName:'/move_base/NavfnROS/plan',
},

---

Install Turtlebot and pr2

• ROS Melodic or Kinetic:

sudo apt-get install ros-kinetic-turtlebot-sim* ....

• Noetic

Build the source code.

Ref:

1. Build pr2 source
2. How to build pr2 and turtlebot

Run Turtlebot

change the noetic to your local ROS version, like kinetic or melodic

export TURTLEBOT_STAGE_WORLD_FILE="/opt/ros/noetic/share/turtlebot_stage/maps/stage/maze.world"
export TURTLEBOT_STAGE_MAP_FILE="/opt/ros/noetic/share/turtlebot_stage/maps/maze.yaml"
roslaunch turtlebot_stage turtlebot_in_stage.launch

roslaunch rosbridge_server rosbridge_websocket.launch

rosrun robot_pose_publisher robot_pose_publisher

)](https://github.com/Camixxx/RosNavJs/blob/main/img/roslaunch1cmd.png?raw=true)

Run PR2

roslaunch pr2_tuckarm tuck_arms.launch

发布机器人的姿势：rosrun robot_pose_publisher robot_pose_publisher

启动rosbridge 服务器：roslaunch rosbridge_server rosbridge_websocket.launch

---

Example

open public/example/demo.html

Turtlebot:

<script src="../src/index.js"></script>

Pr2:

<script src="../src/index_pr2.js"></script>

1. Double click to set the Goal.
2. Use WASD to control the robot.