ros2与web通讯 rosbridge

ros2 与web 通讯

• 下载rosbridge-suite
  https://blog.csdn.net/weixin_43728093/article/details/120047564
  https://blog.csdn.net/weixin_43254438/article/details/133080053
• 下载js文件
  roslib.min.js
  https://download.csdn.net/download/weixin_44313745/89216497
  eventemitter2.js
  https://download.csdn.net/download/weixin_44313745/89216493

订阅雷达数据：

• ubuntu启动雷达

• 修改html订阅雷达数据：
  

• sub 开始：雷达数据
  

发布命令数据

• ubuntu 启动 sub node

• ros2 run pkg_topic subscriber_demo

• 修改 html push 并 明确数据格式
  

• 点击 发布 ，后台即可显示
  

显示地图

https://bluesnie.github.io/Learning-notes/ROS2/Nav2%E5%AF%BC%E8%88%AA%E7%AF%87/%E7%AC%AC10%E7%AB%A0-SLAM%E5%BB%BA%E5%9B%BE/%E8%BF%9B%E9%98%B6/001-ROS2%E5%9C%B0%E5%9B%BE%E5%8A%A0%E8%BD%BD%E4%B8%8E%E7%BC%96%E8%BE%91.html

ros2 run nav2_map_server map_server --ros-args --param yaml_filename:=/home/yahboom/rplidar_ws/src/yahboomcar_nav/maps/yahboomcar.yaml

• 在订阅发布时会提示消息格式不正确
  [rosbridge_websocket-1] [INFO] [1714012399.529077983] [rosbridge_websocket]: [Client 362068cd-c88c-439a-8f08-f3c846c47fe9] Subscribed to /map
  [rosbridge_websocket-1] [ERROR] [1714012399.553406757] [rosbridge_websocket]: Exception calling subscribe callback: a bytes-like object is required, not ‘str’

树莓派 安装 ubuntu 20.04

https://releases.ubuntu-mate.org/20.04/arm64/

也可参考：

https://blog.csdn.net/weixin_43254438/article/details/133080053