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…xample add pointcloud2 example
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| <!DOCTYPE html> | ||
| <html> | ||
| <head> | ||
| <meta charset="utf-8" /> | ||
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| <script src="http://cdn.robotwebtools.org/threejs/current/three.js"></script> | ||
| <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script> | ||
| <script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script> | ||
| <script src="../build/ros3d.js"></script> | ||
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| <script> | ||
| /** | ||
| * Setup all visualization elements when the page is loaded. | ||
| */ | ||
| function init() { | ||
| // Connect to ROS. | ||
| var ros = new ROSLIB.Ros({ | ||
| url : 'ws://localhost:9090' | ||
| }); | ||
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|
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| // Create the main viewer. | ||
| var viewer = new ROS3D.Viewer({ | ||
| divID : 'viewer', | ||
| width : 800, | ||
| height : 600, | ||
| antialias : true | ||
| }); | ||
|
|
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| // Setup a client to listen to TFs. | ||
| var tfClient = new ROSLIB.TFClient({ | ||
| ros : ros, | ||
| angularThres : 0.01, | ||
| transThres : 0.01, | ||
| rate : 10.0, | ||
| fixedFrame : '/camera_link' | ||
| }); | ||
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| var cloudClient = new ROS3D.PointCloud2({ | ||
| ros: ros, | ||
| tfClient: tfClient, | ||
| rootObject: viewer.scene, | ||
| topic: '/camera/depth_registered/points' | ||
| }); | ||
| } | ||
| </script> | ||
| </head> | ||
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| <body onload="init()"> | ||
| <h1>Simple PointCloud2 Example</h1> | ||
| <p>Run the following commands in the terminal then refresh the page.</p> | ||
| <ol> | ||
| <li><tt>roscore</tt></li> | ||
| <li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li> | ||
| <li><tt>rosrun tf2_web_republisher tf2_web_republisher</tt></li> | ||
| <li><tt>roslaunch openni_launch openni.launch depth_registration:=true</tt></li> | ||
| </ol> | ||
| <div id="viewer"></div> | ||
| </body> | ||
| </html> |