ROS Programming: Building Powerful Robots

Running the web-based joint state publisher

First, start a robot simulation or load a robot description. Here, we are using the robot model of the PR2 robot. If you don't have this model, you can install it using the following command:

    $ sudo apt-get install ros-kinetic-pr2-description

After installing, you can load the PR2 description using the following command:

    $ roslaunch pr2_description upload_pr2.launch

After uploading the code, you can set the ROS parameter called use_gui to true using the following command:

    $ rosparam set use_gui true

After doing this, you can start the joint_state_publisher_js node using the following command. This will launch joint state publisher, rosbridge, and tf2_web_republisher node in a single launch file. ...