Welcome to ROS Naviz

Naviz is our implementation of ROS web-based visualization with full functionality from RVIZ with additional Virtual Wall server

Files structure

Server :

• ros_server
  • robot-app
  • scripts
  • package.json

Client :

• robot-app
  • public
  • src
  • package.json

Robot Config :

• turtlebot3_config
  • costmap_common_params_burger.yaml
  • global_costmap_params.yaml
  • local_costmap_params.yaml

VirtualWall Launch :

• launch
  • Virtual_wall.launch

ROS-Naviz Installation (Requires npm or yarn installed)

cd ~/catkin_ws/src/

git clone https://github.com/Kasidit0052/ROS-Naviz.git

• Install Server

cd ros_server
yarn install

• Install Client

cd robot-app
yarn install

Dependencies Installation

Install Rosbridge package

sudo apt-get install ros-melodic-rosbridge-suite

Install turtlebot3 and turtlebot3_simulations packages

cd ~/catkin_ws/src/

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

cd ..
catkin_make

Install tf2_web_republisher from Robotwebtools

cd ~/catkin_ws/src/

git clone https://github.com/RobotWebTools/tf2_web_republisher.git
sudo apt-get install ros-melodic-tf2-ros

cd ..
catkin_make

Install Virtual Wall Server Package

cd ~/catkin_ws/src/

git clone https://github.com/hoshianaaa/move_base_virtual_wall_server.git

• Replace MoveBase params using our files from robot config folder
• Move our repository launch file to move_base_virtual_wall_server folder

cd ..
catkin_make

Executing program

Robot Initialization :

roscore

roslaunch rosbridge_server rosbridge_websocket.launch

roslaunch turtlebot3_gazebo turtlebot3_world.launch

roslaunch turtlebot3_navigation turtlebot3_navigation.launch

roslaunch move_base_virtual_wall_server Virtual_wall.launch

rosrun tf2_web_republisher tf2_web_republisher

Server :

cd ~/catkin_ws/src/ROS-Naviz/ros_server
yarn server

Client :

cd ~/catkin_ws/src/ROS-Naviz/ros_server
yarn client

Authors

Contributors names and contact info

Kasidit Web (Backend, ROS developer) Kasidit's github

Ton Tosirikul (Frontend developer) TonTosirikul's site

Acknowledgments

Inspiration, code snippets, etc.

• move-base-virtual-wall-server Thanks to this developer for virtual wall
• React-konva Thanks to this developer for canvas manipulation.