In this section, we can see the basic working of this project. Imagine that a Turtlebot simulation is running on your PC. We have to control the robot from the web based teleoperation, so when we press a button from web browser, the key press is detected using JavaScript code and map each key press to ROS Twist message. This is done by using rosbridge clients. The rosbridge client sends Twist message as JSON command to the rosbridge server. The communication is happening over WebSockets as shown in the preceding image. When ROS system receives this topic, it can feed to the robot.
At the same time, the TF data and robot description are sending to the rosbridge client for visualizing the robot movement inside the browser. ...
