ROS Programming: Building Powerful Robots

Running the web teleop application

Let's see how we can run this web application.

First, we have to start a robot simulation in Gazebo. Here, we are testing with a TurtleBot simulation. You can launch the TurtleBot simulation using the following command:

    $ roslaunch turtlebot_gazebo turtlebot_world.launch

Now, we can set the parameter use_gui to true. The robot will only visualize on the browser if this parameter is set.

    $ rosparam set use_gui true

After running this command, run tf2_web_republisher in another Terminal window, using the following command:

    $ rosrun tf2_web_republisher tf2_web_republisher

After launching it, let's launch the rosbridge server to start WebSocket communication. You can start it using the following command: ...