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show_urdf.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script type="text/javascript" src="javascript_libraries/eventemitter2.min.js"></script>
<script type="text/javascript" src="javascript_libraries/roslib.js"></script>
<script type="text/javascript" src="javascript_libraries/three.js"></script>
<script type="text/javascript" src="javascript_libraries/Ros3D.js"></script>
<script type="text/javascript" src="javascript_libraries/visualization/Viewer.js"></script>
<script type="text/javascript" src="javascript_libraries/visualization/SceneNode.js"></script>
<script type="text/javascript" src="javascript_libraries/visualization/interaction/OrbitControls.js"></script>
<script type="text/javascript" src="javascript_libraries/visualization/interaction/MouseHandler.js"></script>
<script type="text/javascript" src="javascript_libraries/visualization/interaction/Highlighter.js"></script>
<script type="text/javascript" src="javascript_libraries/models/Grid.js"></script>
<script type="text/javascript" src="javascript_libraries/models/Axes.js"></script>
<script type="text/javascript" src="javascript_libraries/models/MeshResource.js"></script>
<script type="text/javascript" src="javascript_libraries/urdf/UrdfClient.js"></script>
<script type="text/javascript" src="javascript_libraries/urdf/Urdf.js"></script>
<script type="text/javascript" src="javascript_libraries/ColladaLoader2.js"></script>
<script>
/**
* Setup all visualization elements when the page is loaded.
*/
function init() {
// Connect to ROS.
var ros = new ROSLIB.Ros({
url : 'ws://localhost:9090'
});
ros.on('error', function(error){
console.log(error);
});
// Create the main viewer.
var viewer = new ROS3D.Viewer({
divID : 'urdf',
width : 800,
height : 600
});
// Add a grid.
viewer.addObject(new ROS3D.Grid());
// Setup a client to listen to TFs.
var tfClient = new ROSLIB.TFClient({
ros : ros,
angularThres : 0.01,
transThres : 0.01,
rate : 10.0
});
// Setup the URDF client.
var urdfClient = new ROS3D.UrdfClient({
ros : ros,
tfClient : tfClient,
//path : 'http://resources.robotwebtools.org/', // the base path to the associated Collada models that will be loaded
rootObject : viewer.scene
});
}
</script>
</head>
<body onload="init()">
<h1>Simple URDF Example</h1>
<div id="urdf"></div>
</body>
</html>