BlazorRoslib

Based on

• roslib.js
• Blazor Webassembly
• MudBlazor

GitHub Pages: Blazor Toolbox for ROS

ROS Setup

Example launchfile: webApp.launch

Please read the following documentation!

Topics / Services / Params

BlazorRoslib requires a rosbridge_websocket Node.

When BlazorRoslib is accessed via https (required with GitHub Pages), the browser requires a SSL connection to ROS.

Therefore the rosbridge server has to be setup for wss (originally described here):

1. Set up a self-signed certificate ("snakeoil") (usually already done by ubuntu, if not see this GitHub Gist)

   sudo apt-get install ssl-cert
   

2. Copy the certificate to /certs folder

   sudo cp /etc/ssl/private/ssl-cert-snakeoil.key /etc/ssl/certs/
   

3. chmod /etc/ssl/certs/ssl-cert-snakeoil.key so it is readable. /etc/ssl/certs/ssl-cert-snakeoil.pem should already be readable.

   sudo chmod 644 /etc/ssl/certs/ssl-cert-snakeoil.key

4. Setup a launchfile

   <launch>
       <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"> 
           <arg name="ssl" default="true" />
           <arg name="certfile" default="/etc/ssl/certs/ssl-cert-snakeoil.pem" />
           <arg name="keyfile" default="/etc/ssl/certs/ssl-cert-snakeoil.key" />
       </include>
   </launch>

   OR add these args to /opt/ros/kinetic/share/rosbridge_server/launch/rosbridge_websocket.launch

   <arg name="ssl" default="true" />
   <arg name="certfile" default="/etc/ssl/certs/ssl-cert-snakeoil.pem" />
   <arg name="keyfile" default="/etc/ssl/certs/ssl-cert-snakeoil.key" />

5. This self-signed certificate is usually not accepted by the browser. As a workaround, you can open the full wss-URL in the browser and manually accept the certificate. You can find the required link on the ROS-Settings page.

To avoid using SSL you can setup a webserver for static files (e.g nginx) and host your own ROS-Toolbox.

Live Video

For live video a web_video_server node is required.

Setup:

Add the node to a launchfile:

<node name="web_video_server" pkg="web_video_server" type="web_video_server" output="screen" />

OR

Start the node from the console:

rosrun web_video_server web_video_server

Rosbag Recording

For remote recording rosbags the rosbag_recording_services is required. Please follow the installation instructions over there.

Topic Health Checks

For checking topic health the rosbag_recording_services is required. Please follow the installation instructions over there.

3D View

For displaying PointCloud2 and LaserScan in the 3D View a tf2_web_publisher node is required.

Add the node to a launchfile:

<node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen"/>