This extension makes possible to communicate with the vehicle via ROS
To connect, you just need to run the following commands:
export ROS_MASTER_URI=http://blueos.local:11311
# or export ROS_MASTER_URI=http://<vehicle-ip>:11311
rostopic list # Done, you already have access to it!You can also access the data via roslibjs.
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script type="text/javascript" src="https://cdnjs.cloudflare.com/ajax/libs/roslibjs/1.1.0/roslib.min.js"></script>
<script type="text/javascript" type="text/javascript">
var ros = new ROSLIB.Ros({
url : 'ws://blueos.local:8889' // Change if necessary for your vehicle ip
});
ros.on('connection', function() {
document.getElementById("status").innerHTML = "Connected";
});
ros.on('error', function(error) {
document.getElementById("status").innerHTML = "Error";
});
ros.on('close', function() {
document.getElementById("status").innerHTML = "Closed";
});
var txt_listener = new ROSLIB.Topic({
ros : ros,
name : '/mavros/vfr_hud',
messageType : 'mavros_msgs/VFR_HUD'
});
txt_listener.subscribe(function(m) {
document.getElementById("msg").innerHTML = JSON.stringify(m);
});
</script>
</head>
<body>
<h1>Simple ROS User Interface</h1>
<p>Connection status: <span id="status"></span></p>
<p>Last /mavros/vfr_hud received: <span id="msg"></span></p>
</body>
</html>It's possible to change ROS master for the extension using BlueOS on pirate mode and configuring ROS environments variables under the extension configuration menu.
A valid configurtion wouyld look like this:
{
"NetworkMode": "host",
"HostConfig": {
"Binds": [
"/dev:/dev:rw"
],
"Privileged": true,
"NetworkMode": "host"
},
"Env": [
"ROS_HOSTNAME=192.168.2.2",
"ROS_MASTER_URI=http://192.168.2.3:11311",
"ROS_IP=192.168.2.2"
]
}For more information about it, check BlueOS documentation.