This webpage is supposed to be use in order for the user to trigger different task and have feedback on different topic. As there is no server running. The webpage is a single webpage processing everything using js to interact with DOM and the lib roslib.js from RobotWebTools to communicate with ROS topics.
The main page shows a series of button for triggering different task
The only file run on the tablet is the index.html along with the imported files inside it. For better development we use typescript as for creating the app.
- First you need to install the modules using npm (make sure it is installed on your machine) go to the src folder and run
npm install
Now you can compile your ts file using
tsc app.ts
A JavaScript file wiht the same name will be generated (app.ts will generate app.js)
Typescript compiler is used in order to convert typescript to a certain version of javascript. You can see details in the tsconfig.json. While the application is growing larger you might end up with multiple .js files and .css file to import along with assets and need to optimize the app. In order to do that you will need to use webpack. Feel free to look at this link to have a small understanding of how webpack works.
Run the following command to compile app.ts using webpack with the following command :
npx webpack
The webpage were written in plain HTML, CSS, and JavaScript, to meet the limited javascript availability on pepper, namely JavaScript 1.7 and Mozilla 5.0.
First, make sure you have the latest version of the tablet web app Under robobreizh_pepper_ws/src/tablet_pepper/src/dom-robocup-manager
git checkout main
git pull
Then, copy the files from the workspace to the folder we are going to place the web app
cp -r ~/robobreizh_pepper_ws/src/tablet_pepper/src/dom-robocup-manager/* ~/.local/share/PackageManager/apps/tablet/html
And now, the files should be in the correct folder for running.
In order to set up the auto load on start, add this line to ~/naoqi/preferences/autoload.ini, under [python]
/home/nao/robobreizh_pepper_ws/src/tablet_pepper/src/dom-robocup-manager/start_tablet_on_boot.py
Under src/dom-robocup-manager/scripts, there is a shell script called deploy.sh to easily change the ip addresses in the js scripts and move the files to the apps folder
run it with:
sh deploy.sh <robot_ip>
The webpage should show automatically 2 minutes after the robot booted with the "start_tablet_on_boot.py" script, and it will also trigger set my pepper straight
Alternatively the webpage can be ran manually with the following command:
ssh [email protected]
exit
qicli call ALTabletService.showWebview "http://198.18.0.1/apps/tablet/index.html"
Or this command in ~/
python start_tablet.py
The wifi receiver unit on the tablet is prone to inference from other wireless network and devices, which may lead to weak connection or disruptions in connection.
The "start_tablet_on_boot.py" script is linked to ~/naoqi/preferences/autoload.ini to run on boot, note that on load scripts are will be ran with python 2.7, more documentations are available here, under Loading a module at startup: http://doc.aldebaran.com/2-5/dev/tools/naoqi.html.
If you use this project, please consider citing:
@incollection{buche2023robocup,
title={RoboCup@ Home SSPL Champion 2023: RoboBreizh, a Fully Embedded Approach},
author={Buche, C{\'e}dric and Neau, Ma{\"e}lic and Ung, Thomas and Li, Louis and Wang, Sinuo and Bono, C{\'e}dric Le},
booktitle={Robot World Cup},
pages={374--385},
year={2023},
publisher={Springer}
}