examples/tf.html

<!DOCTYPE html>
<html lang="en">
<head>
  <meta charset="utf-8" />
  <title>roslibjs Febonacci example</title>
</head>

<body>
  <h1>Simple TF Example</h1>
  <p>Run the following commands in the terminal then refresh this page. Check the JavaScript
    console for the output.</p>
  <ol>
    <li><tt>roslaunch turtle_tf turtle_tf_demo.launch</tt>
    </li>
    <li><tt>rosrun tf2_web_republisher tf2_web_republisher</tt>
    </li>
    <li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt>
    </li>
    <li>Use your arrow keys on your keyboard to move the turtle (must have <tt>turtle_tf_demo.launch</tt>
      terminal focused).</li>
  </ol>
  <div id="statusIndicator">
    <p id="connecting">
      Connecting to rosbridge...
    </p>
    <p id="connected" style="color:#00D600; display:none">
      Connected
    </p>
    <p id="error" style="color:#FF0000; display:none">
      Error in the backend!
    </p>
    <p id="closed" style="display:none">
      Connection closed.
    </p>
  </div>

  <script type="module">
    import ROSLIB from '../build/roslib.js';
    // Connecting to ROS
    // -----------------
    var ros = new ROSLIB.Ros({
      // set this to false to use the new service interface to
      // tf2_web_republisher. true is the default and means roslibjs
      // will use the action interface
      groovyCompatibility : true
    });

    // If there is an error on the backend, an 'error' emit will be emitted.
    ros.on('error', function(error) {
      document.getElementById('connecting').style.display = 'none';
      document.getElementById('connected').style.display = 'none';
      document.getElementById('closed').style.display = 'none';
      document.getElementById('error').style.display = 'inline';
      console.log(error);
    });

    // Find out exactly when we made a connection.
    ros.on('connection', function() {
      console.log('Connection made!');
      document.getElementById('connecting').style.display = 'none';
      document.getElementById('error').style.display = 'none';
      document.getElementById('closed').style.display = 'none';
      document.getElementById('connected').style.display = 'inline';
    });

    ros.on('close', function() {
      console.log('Connection closed.');
      document.getElementById('connecting').style.display = 'none';
      document.getElementById('connected').style.display = 'none';
      document.getElementById('closed').style.display = 'inline';
    });

    // Create a connection to the rosbridge WebSocket server.
    ros.connect('ws://localhost:9090');

    // TF Client
    // ---------
    var tfClient = new ROSLIB.TFClient({
      ros : ros,
      fixedFrame : 'world',
      angularThres : 0.01,
      transThres : 0.01
    });

    // Subscribe to a turtle.
    tfClient.subscribe('turtle1', function(tf) {
      console.log(tf);
    });
  </script>
</body>
</html>