ros2与web通讯 rosbridge

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：

• ubuntu启动雷达

• 修改html订阅雷达数据：
  

• sub 开始：雷达数据
  

发布命令数据

• ubuntu 启动 sub node

• ros2 run pkg_topic subscriber_demo

• 修改 html push 并 明确数据格式
  

• 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'

https://releases.ubuntu-mate.org/20.04/arm64/

也可参考：

https://blog.csdn.net/weixin_43254438/article/details/133080053