Implementing smach_viewer with Robot Web Tools

asked 2018-09-10 06:44:00 -0500

Fiddle gravatar image

updated 2018-09-10 07:31:26 -0500

Hi, I want to implement a simple GUI to control the robot, and I want to do it via web browser with the help from rosbridge and roslibjs. For this project, I wanted to implement a small window which would contain the information of the smach state that the robot is currently in. So now I see a few options:

  • Implement smach viewer myself with the usage of javascript libraries, and maybe smach_msgs (I guess this will take a long time)
  • Run smach viewer in background and take screenshots of the interface from time to time (I lose interactivity)
  • Find a way to implement rqt_smach viewer inside the browsers window

The last option seems like the most reasonable one, since I can use everything smach_viewer allows me to. The problem is, how to do it? I've seen that The Construct project contains rviz viewers so I guess there is a possibility to do this?

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It's not directly what you ask for, but have you seen flexbe? Note that this is not intended as a user directed UI, but it goes in the right direction.

gvdhoorn gravatar image gvdhoorn  ( 2018-09-10 07:35:45 -0500 )edit

It seems like I would need to implement once again what I have in my current smach, and now it is pretty complex to do so. I noticed that Qt has something called webchannelsbut I don't know if they are present in smach_viewer, or even rqt

Fiddle gravatar image Fiddle  ( 2018-09-10 07:53:38 -0500 )edit