navgoal_webgui

navgoal_webgui.mp4

A WebGUI for publishing 2D Nav Goal (geometry_msgs::PoseStamped)

This code is based on nav2djs

Install

git clone https://github.com/Decwest/navgoal_webgui.git
sudo apt update
sudo apt install -y ros-$ROS_DISTRO-roswww ros-$ROS_DISTRO-tf2-web-republisher

Launch

roslaunch navgoal_webgui webserver.launch

WebGUI URL

• Browse in your local PC http://localhost:8085/navgoal_webgui/index.html

• Browse in other PCs or tablets in the same network http://<your local PC's ip address>:8085/navgoal_webgui/index.html

  In Ubuntu, the ip address can be looked up as follows.

  hostname -I

Parameter

You can change the topic and tf names by modifiying parameters in the line 30 of index.html.

    //######################################################################################//
    //######################                  config                  ######################//
    //######################################################################################//
    var map_topic = '/map';
    var use_tf = true;
    var map_frame = '/map';
    var base_frame = '/base_link';
    var robot_pose = '/robot_pose';
    var topicName = '/move_base_simple/goal';
    //######################################################################################//

• map_topic (default: '/map')

  • the name of subscribing map topic (type: nav_msgs/OccupancyGrid)

• use_tf (default: true)

  • If true, the WebGUI obtains robot position by map_frame -> base_frame tf
    • map_frame (default: '/map')
    • base_frame (default: '/base_link')
  • If false, the WebGUI obtains robot position by robot_pose topic (type: geometry_msgs/Pose)
    • robot_pose (default: '/robot_pose')

• topicName (default: '/move_base_simple/goal' (same as the default setting of RViz))

  • the name of publishing 2D nav goal topic (type: geometry_msgs/PoseStamped)