A ROS to Web Love Story

A Proof of Concept that demos direct ROS to Web Frontend communication for a control panel on the web.

It uses the following ROS nodes for its functionality :-

1. rosbridge-server
2. usb-cam
3. web-video-server

P.S: It is currently configured to control the Turtle in turtlesim.

rosrun turtlesim turtlesim_node

ROS Bridge Server

At the center of communication lies the ROS Bridge which allows applications to communicate with the PubSub layer of ROS directly. roslibjs is used on the frontend to allow connection to rosbridge-server

To Launch: roslaunch rosbridge_server rosbridge_websocket.launch

USB Cam

USB Cam will allow ROS to take images from a camera connected via USB and send the images to /usb_camera/image_raw topic.

To Launch: rosrun usb_cam usb_cam_node

Web Video Server

Finally, web-video-server consumes the images from various available sensors/Image topics and hosts a webserver to create direct video stream URLs that can be displayed on any webpage. URLs for the stream follow the format, http://localhost:8080/stream?topic=/usb_cam/image_raw

To Launch: rosrun web_video_server web_video_server