WebViz

A low-bandwidth websocket-based direct robot visualizer.

Dependencies

1. ROS
2. AMRL ROS Messages
3. QT5 and QT5 WebSockets

   sudo apt install qt5-default libqt5websockets5-dev
   

Build

1. Add the project directory to the ROS_PACKAGE_PATH environment variable.

   export ROS_PACKAGE_PATH=`pwd`:$ROS_PACKAGE_PATH
   

2. Run git submodule update --init --recursive to pull all the submodules.

3. Run make.

Usage

1. Start the websocket server

   ./bin/websocket
   

2. Open the file webviz.html in a web browser on the remote computer
3. Enter the IP address or hostname of the robot, and click on Connect.