Running Rosbridge Description: This tutorial shows you how to launch a rosbridge server and talk to it.

Keywords: rosbridge, roslibjs, teleoperation, Robot Web Tools

Tutorial Level: BEGINNER

Contents

1. Installing Rosbridge
2. Running Rosbridge
3. Talking to Rosbridge

Installing Rosbridge

Rosbridge depends on a basic installation of ROS. Check out the ROS Installation Guide for installing ROS on your machine.

After ROS is installed, you can install Rosbridge from a .deb package:

sudo apt-get install ros--rosbridge-suite

This will install the suite of rosbridge packages needed to get started.

Running Rosbridge

After installing ROS and rosbridge, you need to make sure your system is aware of the packages. To set up your environment for ROS and rosbridge:

source /opt/ros//setup.bash

All that's left is to run rosbridge. To launch rosbridge and its packages like rosbridge_server and rosapi, a launch file is included in the install. To launch the file, run:

roslaunch rosbridge_server rosbridge_websocket.launch

This will run rosbridge and create a WebSocket on port 9090 by default.

You can configure the port by setting the ~/port param in ROS. An example launch file that will run rosbridge on port 8080 would look like:

Talking to Rosbridge

Now that rosbridge has been launched and a WebSocket connection is available, we can create a basic HTML webpage to send and receive calls to rosbridge. Roslibjs is a Javascript library that handles the communication for you. Check out the getting started with roslibjs tutorial to create a webpage with roslibjs and rosbridge.

AGVS Tutorials

In this page there's a list of tutorial to start using the Agvs robot.

Contents

1. AGVS Tutorials
   1. Launching gazebo model and controller
   2. Building a map of Willow Garage
   3. Autonomous movement (Pure Pursuit)
   4. VREP model

Launching gazebo model and controller

1. Launch Gazebo model

• roslaunch agvs_gazebo agvs.launch

2. Launch Gazebo controller

• roslaunch agvs_robot_control agvs_robot_control.launch

3. Launch pad to control the robot with a ps3 joystick

• roslaunch agvs_pad agvs_pad.launch

Building a map of Willow Garage

1. Launch Gazebo model

• roslaunch agvs_gazebo agvs_office.launch

Nao is a commercially available humanoid robot built by Aldebaran. The ROS driver was originally developed by Freiburg's Humanoid Robots Lab and Armin Hornung. It essentially wraps the needed parts of Aldebaran's NaoQI API (versions 1.14 and 2.1) and makes it available in ROS. It also provides a complete robot model (URDF).

Robots using ROS: Aldebaran Nao

Robots using ROS: Uni Freiburg's "Osiris" Nao

Community

There is an official SIG for NaoQI and Aldebaran's robots at https://groups.google.com/forum/?fromgroups#!forum/ros-sig-aldebaran. Please subscribe to it to get the latest news !

Tutorials

A complete list of tutorials can be found under tutorials. This includes the installation, startup and further advanced instructions how to connect ROS with your NAO.

• Start all robot nodes: nao_bringup

• See getting started for a walk-through guide to installing ROS, NAOqi, and rviz (may be outdated by now).

Library Overview

The core functionality is implemented in the nao_robot stack (can be installed on the robot or on a remote PC), extended with further functionality in nao_extras (should be installed on a remote PC).

sudo apt-get install ros-.*-nao-robot
sudo apt-get install ros-.*-nao-extras

For an outline of the libraries included, please see the tables below.

Basic Configuration

Hardware Drivers and Simulation

High-Level Capabilities

And more at nao_extras.

Simulation

You have the following options for simulating NAO:

• You can use a simulated Nao in Webots and connect the driver to NaoQI on your local machine.

• You can use a simulated Nao in Gazebo using plain ros_control architecture and no NaoQI features.

• You can use a simulated Nao in Gazebo and connect the driver to NaoQI on your local machine.