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：
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ubuntu启动雷达
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修改html订阅雷达数据：
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sub 开始：雷达数据
发布命令数据
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ubuntu 启动 sub node
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ros2 run pkg_topic subscriber_demo
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修改 html push 并 明确数据格式
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点击 发布 ，后台即可显示
显示地图
https://bluesnie.github.io/Learning-notes/ROS2/Nav2导航篇/第10章-SLAM建图/进阶/001-ROS2地图加载与编辑.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