This is the second project we are going discuss in this chapter. The aim of this project is to control robot joints from the web browser itself.
Here is the block diagram of the working of a joint state publisher from the web browser:
Figure 6: Block diagram of web-based joint state controller
From the block diagram, we can see that we are using another JavaScript module called jointstatepublisherjs. This module has a class to create a joint state publisher for all joints defined inside the URDF file.
To use this joint state control module, we need to clone the following package into the ROS catkin workspace. Here is the command:
$ git clone https://github.com/DLu/joint_state_publisher_js
You can use catkin_make after executing the preceding command.
You can see the JavaScript module from the joint_state_publisher_js/build folder. You can copy this module and use it for your own applications.
You will get HTML code...