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Commit 4e11c530 authored by Fernando Herrero's avatar Fernando Herrero
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CMakeLists.txt 0 → 100644
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cmake_minimum_required(VERSION 3.0.2)
project(iri_adc_gui)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES iri_adc_gui
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/iri_adc_gui.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/iri_adc_gui_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_adc_gui.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
html/images/iri.png 0 → 100644
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html/images/iri.png

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html/index.html 0 → 100644
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<html>
<head>
<meta charset="utf-8">
<!--
<link rel="stylesheet" href="https://maxcdn.bootstrapcdn.com/bootstrap/3.3.6/css/bootstrap.min.css">
<link rel="stylesheet" href="https://maxcdn.bootstrapcdn.com/bootstrap/3.3.6/css/bootstrap-theme.min.css">
<script src="http://maxcdn.bootstrapcdn.com/bootstrap/3.3.6/js/bootstrap.min.js"></script>
<script src="https://rawgit.com/rbonghi/roswebconsole/master/js/ros/eventemitter2/eventemitter2.min.js"></script>
-->
<script src="https://ajax.googleapis.com/ajax/libs/jquery/1.11.3/jquery.min.js"></script>
<script src="https://rawgit.com/RobotWebTools/roslibjs/develop/build/roslib.min.js"></script>
<!--<link href="include/bootstrap-5.1.1-dist/css/bootstrap.min.css" rel="stylesheet"></link>-->
<link href="https://cdn.jsdelivr.net/npm/bootstrap@5.1.1/dist/css/bootstrap.min.css" rel="stylesheet" integrity="sha384-F3w7mX95PdgyTmZZMECAngseQB83DfGTowi0iMjiWaeVhAn4FJkqJByhZMI3AhiU" crossorigin="anonymous">
<script src="https://cdn.jsdelivr.net/npm/bootstrap@5.1.1/dist/js/bootstrap.bundle.min.js" integrity="sha384-/bQdsTh/da6pkI1MST/rWKFNjaCP5gBSY4sEBT38Q/9RBh9AH40zEOg7Hlq2THRZ" crossorigin="anonymous"></script>
<script>
document.title="index";
var ip;
ip = document.domain;
//ip = window.location.hostname
//ip = prompt("Enter server ip address", "192.168.100.219");
var ros = new ROSLIB.Ros();
ros.connect('ws://'+ip+':9090');
$(document).ready
(
function ()
{
}
);
</script>
</head>
<body>
<style>body { padding-top: 60px;}</style>
<nav class="navbar navbar-expand-md navbar-dark bg-dark fixed-top">
<a class="navbar-brand" href="https://www.iri.upc.edu">
<img src="images/iri.png" width="30" height="30" class="d-inline-block align-top" alt="">
IRI
</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarsExampleDefault" aria-controls="navbarsExampleDefault" aria-expanded="false" aria-label="Toggle navigation">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbarsExampleDefault">
<ul class="navbar-nav mr-auto">
<li class="nav-item active">
<a class="nav-link" href="index.html"><b>Home</b></a>
</li>
<li class="nav-item">
<a class="nav-link" href="map.html">Map<a/>
</li>
</li>
</ul>
</div>
</nav>
<main role="main" class="container">
This is iri_robot_web/html/index.html content
</main>
</body>
</html>
html/map.html 0 → 100644
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<html>
<head>
<meta charset="utf-8">
<!--
<link rel="stylesheet" href="https://maxcdn.bootstrapcdn.com/bootstrap/3.3.6/css/bootstrap.min.css">
<link rel="stylesheet" href="https://maxcdn.bootstrapcdn.com/bootstrap/3.3.6/css/bootstrap-theme.min.css">
<script src="http://maxcdn.bootstrapcdn.com/bootstrap/3.3.6/js/bootstrap.min.js"></script>
<script src="https://rawgit.com/rbonghi/roswebconsole/master/js/ros/eventemitter2/eventemitter2.min.js"></script>
-->
<script src="https://ajax.googleapis.com/ajax/libs/jquery/1.11.3/jquery.min.js"></script>
<script src="https://rawgit.com/RobotWebTools/roslibjs/develop/build/roslib.min.js"></script>
<!--<link href="include/bootstrap-5.1.1-dist/css/bootstrap.min.css" rel="stylesheet"></link>-->
<link href="https://cdn.jsdelivr.net/npm/bootstrap@5.1.1/dist/css/bootstrap.min.css" rel="stylesheet" integrity="sha384-F3w7mX95PdgyTmZZMECAngseQB83DfGTowi0iMjiWaeVhAn4FJkqJByhZMI3AhiU" crossorigin="anonymous">
<script src="https://cdn.jsdelivr.net/npm/bootstrap@5.1.1/dist/js/bootstrap.bundle.min.js" integrity="sha384-/bQdsTh/da6pkI1MST/rWKFNjaCP5gBSY4sEBT38Q/9RBh9AH40zEOg7Hlq2THRZ" crossorigin="anonymous"></script>
<script>
document.title="map";
var ip;
ip = document.domain;
//ip = window.location.hostname
var ros = new ROSLIB.Ros();
ros.connect('ws://'+ip+':9090');
var image_topic = "/iri_adc_gui_image_generator/image/image_raw";
var type="mjpeg"; //mjpeg, ros_compressed
var quality=20;
var size=800;
var first=true;
function update_image_topic()
{
if(first)
{
document.getElementById('video_image').src ="http://"+ip+":8080/stream?topic="+ image_topic + "&type="+type+"&quality="+quality;
first=false;
}
var new_quality = document.getElementById("quality_input").value;
var new_image_topic = document.getElementById("image_topic_input").value;
var new_image_size = document.getElementById("size_input").value;
if(new_quality!=quality || new_image_topic!=image_topic)
{
quality=new_quality;
image_topic=new_image_topic;
document.getElementById('video_image').src ="";
document.getElementById('video_image').src ="http://"+ip+":8080/stream?topic="+ image_topic + "&type="+type+"&quality="+quality;
}
if(new_image_size!=size)
{
var yourImg = document.getElementById('video_image');
if(yourImg && yourImg.style)
{
yourImg.style.height = new_image_size;
yourImg.style.width = new_image_size;
}
}
}
$(document).ready
(
function ()
{
update_image_topic();
}
);
</script>
</head>
<body>
<style>body { padding-top: 60px;}</style>
<nav class="navbar navbar-expand-md navbar-dark bg-dark fixed-top">
<a class="navbar-brand" href="https://www.iri.upc.edu">
<img src="images/iri.png" width="30" height="30" class="d-inline-block align-top" alt="">
IRI
</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarsExampleDefault" aria-controls="navbarsExampleDefault" aria-expanded="false" aria-label="Toggle navigation">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbarsExampleDefault">
<ul class="navbar-nav mr-auto">
<li class="nav-item active">
<a class="nav-link" href="index.html">Home</a>
</li>
<li class="nav-item">
<a class="nav-link" href="map.html"><b>Map</b><a/>
</li>
</ul>
</div>
</nav>
<main role="main" class="container">
Topic: <input type="string" size="50" id="image_topic_input" value="/iri_adc_gui_image_generator/image/image_raw" onchange="update_image_topic()">
<br>
Quality: <input type="number" id="quality_input" min="1" max="100" step="1" value="20" onchange="update_image_topic()">
<br>
Size: <input type="number" id="size_input" min="1" max="4096" step="1" value="800" onchange="update_image_topic()">
<br>
<img id="video_image" src="" height="800" width="800"/>
</main>
</body>
</html>
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<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="video_server" default="true"/>
<arg name="name" default="roswww"/>
<arg name="port" default="8085"/> <!-- avoid to use apache default port -->
<arg name="webpath" default="html"/> <!-- package webroot --> <!-- www (roswww), html (iri_adc_gui) -->
<arg name="cached" default="false"/>
<!-- <arg name="address" default="localhost"/> -->
<arg name="address" default="$(optenv MASTER_IP localhost)"/>
<node pkg="roswww"
type="webserver.py"
name="$(arg name)"
args="--name $(arg name)
--port $(arg port)
--webpath $(arg webpath)
--cached $(arg cached)">
</node>
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
<arg name="port" value="9090" />
<arg name="address" value="$(arg address)" />
<arg name="ssl" value="false" />
<arg name="certfile" value=""/>
<arg name="keyfile" value="" />
<arg name="retry_startup_delay" value="5" />
<arg name="fragment_timeout" value="600" />
<arg name="delay_between_messages" value="0" />
<arg name="max_message_size" value="None" />
<arg name="authenticate" value="false" />
</include>
<node if="$(arg video_server)"
name="web_video_server"
pkg ="web_video_server"
type="web_video_server">
<param name="address" value="$(arg address)"/>
<param name="port" value="8080"/>
<param name="server_threads" value="1"/>
<param name="ros_threads" value="2"/>
</node>
</launch>
<!--
WEB BROWSER
http://localhost:8085/iri_adc_gui/index.html
-->
package.xml 0 → 100644
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<?xml version="1.0"?>
<package format="2">
<name>iri_adc_gui</name>
<version>0.0.0</version>
<description>The iri_adc_gui package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="labroboticamobil@iri.upc.edu">IRI_labroboticamobil</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>LGPL</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/iri_adc_gui</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roswww</exec_depend>
<exec_depend>rosbridge_suite</exec_depend>
<exec_depend>web_video_server</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
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