A simple web interface to call a robot
git clone https://github.com/LCAS/CallARobot.git
.devcontainer
directory: cd .devcontainer
docker compose up -d
docker compose port nginx 80
, it should show something like 0.0.0.0:32881
Even easier may be to use the devcontainer in VSCode:
python callarobot.py
and you should be able to access it under the "CAR server" forwarded portrun sudo pip install -r requirements.txt
WEBSOCKET_URL="wss://lcas.lincoln.ac.uk/rasberry/ws" python callarobot.py
WEBSOCKET_URL="wss://lcas.lincoln.ac.uk/rasberry/ws" python ws_client.py
The demo client ws_client
will start as ROS node if it find rospy
module
rostopic echo /car_client/get_states
returns a JSON string looking something like this on every state change:
data: '{"states": {"marc": "INIT"}, "_id": "13ed12d2-a398-4bdc-95e4-27a4563fddfe"
, "method": "update_orders"}'
rostopic echo /car_client/get_gps
returns a JSON string looking something like this on every gps update change:
data: '{"lat": 53.232973799999996, "_id": "578a0829-1fec-4843-9e2d-6f82136058b5",
"method": "update_position", "long": -0.5458096000000001, "user": "marc"
}'
set a state, by publishing a JSON string to /car_client/set_state
: e.g.
rostopic pub /car_client/set_states std_msgs/String "data: '{\"user\": \"marc\", \"state\": \"CALLED\"}'"
<Location /rasberry/car>
SSLRequireSSL
SetEnv proxy-initial-not-pooled
Order allow,deny
Allow from all
ProxyPass http://localhost:8127/car
ProxyPassReverse http://localhost:8127/rasberry/car
</Location>
<LocationMatch "/rasberry/car/ws">
SSLRequireSSL
ProxyPassMatch ws://localhost:8128/ disablereuse=On
ProxyPassReverse ws://localhost:8128/
Order allow,deny
Allow from all
#LogLevel Debug
</LocationMatch>