match_software_utilities/test_bridge.html at master · match-ROS/match_software_utilities · GitHub

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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />

<script type="text/javascript" src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>

<script type="text/javascript" type="text/javascript">
  // Connecting to ROS
  // -----------------

  var ros = new ROSLIB.Ros({
    url : 'ws://192.168.12.20:9090'
  });

  ros.on('connection', function() {
    console.log('Connected to websocket server.');
  });

  ros.on('error', function(error) {
    console.log('Error connecting to websocket server: ', error);
  });

  ros.on('close', function() {
    console.log('Connection to websocket server closed.');
  });


  ros.getTopics(function(topics) {
    console.log(topics);
    listTopics= topics["topics"]
    listTypes= topics["types"]
    var table = document.getElementById("myTopics");

    for (i = 0; i< listTopics.length; i++) {
      var row = table.insertRow(0);
      var cell1 = row.insertCell(0);
      var cell2 = row.insertCell(1);
      cell1.innerHTML = listTypes[i];
      cell2.innerHTML = listTopics[i];
    }
  });
ros.getParams(function(params) {
    var list = document.getElementById("myParams");
    console.log(params);
    for(i=0;i<params.length;i++)
    {
      var elem=document.createElement("li");
      elem.innerHTML=params[i];
      list.appendChild(elem);
    }
  });

var tfClient = new ROSLIB.TFClient({
    ros : ros,
    fixedFrame : 'map',
    angularThres : 0.01,
    transThres : 0.01
});
tfClient.subscribe('odom', function(tf) {
    console.log(tf);
  });


</script>


</head>
<body>
  <h1>Rosbridge Metadata</h1>
  <table id="myTopics" stype="width:100%"> </table>
  <ul id="myParams"></table>
</body>
</html>