Asctec Pelican GUI

The purpose of this project is an example of how to write a web page that can be accessed by any device on the same network as the host computer by accessing the IP of that host computer.

Here are the following requirements:

A roscore running
The IP of the machine running ROS
Permissions be changed on the working directory
apache2 up and running

ROS Core

If you are either using a remote rosmaster or a local one, make sure on the computer that you are going to use to host the webpage can access and echo topics that you wish to display on the webpage.

The IP of the machine running ROS

This is required when connecting using the rosbridge

Folder Permissions

This was a big problem for me. If you ever get errors on the page that permissions where denied, navigate to the directory above the working directory, right click on the directory that you are working in, change the permissions for all folders and sub folders so that everyone can access it.

apache2 up and running

apache2 is used to host the webpage on your computer.

Google can help you find the install instructions which are straight forward.

The only next trick is to change the host directory to the working directory.

1.check where is configuration. Generally, apache2 configuration file is located in /etc/apache2/ folder.

vi /etc/apache2/apache2.conf in that file, you can find out the location of "DocumentRoot" config

Include sites-enabled/ that indicates your configration file is in "/etc/apache2/sites-enabled/".

2.Edit DocumentRoot config

vi /etc/apache2/sites-enabled/000-default In that file, you can find the "DocumentRoot" like below

DocumentRoot /home/glenturner/catkin_ws/src/asctec_pelican_gui And, modify that as you want.

4.Change in apa.conf file to include:

<Directory /home/glenturner/catkin_ws/src/asctec_pelican_gui>
  Options Indexes FollowSymLinks
  AllowOverride None
  Require all granted
</Directory>

3.Restart apache.

service apache2 restart

Getting server up and running#

Here the rosbridge_suite that is used to link the websocket and ROS: http://wiki.ros.org/rosbridge_suite.

Basic ROS functionality of rosbridge: http://wiki.ros.org/roslibjs/Tutorials/BasicRosFunctionality

the launch command: roslaunch rosbridge_server rosbridge_websocket.launch

TODO

By using ROSBridge, this GUI will attempt to display relevant information over the web for any device.

TODO: 2. Display Network Information

Display camera image
Move connection information to a new tab
Check why on iPad the default IP address doesn't load

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