How to run a .html file with js including roslibjs

asked 2015-08-04 14:33:21 -0500

lamiastella gravatar image

updated 2015-08-04 17:20:40 -0500

David Lu gravatar image

So I am trying to run a .html file which includes the javascript and uses roslibjs. I get the following error in the js console in firefox:

ReferenceError: ROSLIB is not defined math.html:10
Use of getPreventDefault() is deprecated.  Use defaultPrevented instead.

I am running the example provided in the roslibjs repo in github.

<!DOCTYPE html>
<meta charset="utf-8" />
<script src=""></script>
<script src="../build/roslib.js"></script>

  // Let's start by adding some vectors.
  var v1 = new ROSLIB.Vector3({
    x : 1,
    y : 2,
    z : 3
  var v2 = v1.clone();

  // Now let's play with some quaternions.
  var q1 = new ROSLIB.Quaternion({
    x : 0.1,
    y : 0.2,
    z : 0.3,
    w : 0.4
  var q2 = q1.clone();

  // Let's copy the results into a pose.
  var p = new ROSLIB.Pose({
    position : v1,
    orientation : q1

  // Finally, let's play with some transforms.
  var tf = new ROSLIB.Transform({
    translation : v2,
    rotation : q2

  <h1>Simple Math Example</h1>
  <p>Check the JavaScript console for the output.</p>

Besides that I was trying to learn how to publish the commands or literally any output to a webpage using the roslibjs. I have followed these steps:

2) open a new terminal 
3)rostopic pub /listener std_msgs/String "Hello, World" in the new terminal
This is what I see after entering this command:
publishing and latching message. Press ctrl-C to terminate
4) open another terminal:
5) rostopic echo /cmd_vel in the new terminal
6) This is what I see after entering the command:
WARNING: topic [/cmd_vel] does not appear to be published yet
7) browse to localhost:9090 I get this message:
Can "Upgrade" only to "WebSocket".
8) also after running this nothing happens and it just shows no result or warning:
rosrun rospy_tutorials add_two_ints_server
9) eventually when I run this I get the errors:
roslaunch rosbridge_server rosbridge_websocket.launch
... logging to /home/mona/.ros/log/9cc9437a-3a51-11e5-8592-340286a5d052/roslaunch-mona-Latitude-E5550-27665.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mona-Latitude-E5550:51847/


 * /rosbridge_websocket/address: 
 * /rosbridge_websocket/authenticate: False
 * /rosbridge_websocket/port: 9090
 * /rosdistro: jade
 * /rosversion: 1.11.13

    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)


core service [/rosout] found
process[rosbridge_websocket-1]: started with pid [27687]
process[rosapi-2]: started with pid [27688]
registered capabilities (classes):
 - rosbridge_library.capabilities.call_service.CallService
 - rosbridge_library.capabilities.advertise.Advertise
 - rosbridge_library.capabilities.publish.Publish
 - rosbridge_library.capabilities.subscribe.Subscribe
 - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
 - rosbridge_library.capabilities.advertise_service.AdvertiseService
 - rosbridge_library.capabilities.service_response.ServiceResponse
 - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
Traceback (most recent call last):
  File "/opt/ros/jade/lib/rosbridge_server/rosbridge_websocket", line 135, in <module>
    application.listen(port, address)
  File "/opt/ros/jade/lib/python2.7/dist-packages/tornado/", line 1691, in listen
    server ...
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