rosbridge_websocket_demo

Web browser talking with ROS 1 nodes running on remote robot by using rosbridge_websocket (backend), roslib.js (frontend) and Husarnet p2p VPN (connection over the Internet).

Quick Start

Get your Husarnet Join Code

At first rename .env.template file to .env.

You will find your Join Code at https://app.husarnet.com
-> Click on the desired network
-> Add element button
-> Join code tab

…and change the JOINCODE variable in the .env files.

Start rosbridge_server demo (talker)

On the first computer ("the robot") run:

docker-compose up --build

Access the webserver over the Internet (listener)

Connect the second computer ("the laptop") to the same Husarnet network as the first computer (available options are listed here).

And open the following URL in your web browser (tested on Firefox):

http://talker-over-rosbridge-ws:80

or

http://[<PLACE_HERE_HUSARNET_IPV6_ADDR_OF_ROSBRIDGE_SERVER_DEMO>]:80

Click right mouse button and select Inspect option. Go to Console tab where you should see messages from the talker node:

...
Received message on /chatter: hello world 1479 index.js:27:13
Received message on /chatter: hello world 1480 index.js:27:13
Received message on /chatter: hello world 1481 index.js:27:13
Received message on /chatter: hello world 1482 index.js:27:13
Received message on /chatter: hello world 1483 index.js:27:13
Received message on /chatter: hello world 1484 index.js:27:13
...