Hi, I have been working on a DIY mobile robot project (initially ROS1 and have moved to ROS2) and was looking into my options for remote monitoring and teleoperation from an Android tablet.
I first came across ROS-Mobile which seems like a great project, but is currently ROS1 only (and fair enough). I could probably bridge it but it would be nice not to have to.
Next I thought to myself “there’s probably a common web interface people use for this stuff, I can just run that”, but even then there did not seem to be a “plug and play” solution. The Robot Web Tools Github has an actively updated JS library which is promising, but most of the demos and tools on their website seem to be outdated and/or broken.
There seem to be implementations here and there (such as Jack Pien’s Hadabot) but nothing common. The best thing I’ve found is WebViz by Cruise (demo here), which I will have a go at but seems quite heavy and lacks some of the features I’m interested in.
My questions then is, is there a standard/simple ROS web interface for monitoring and/or teleop, and if not is that something the community would find valuable?
I imagine it would be useful not only for phone/tablet connections, but also to connect from Windows laptops etc. And from there it could be wrapped in an app for ease of use on the various platforms. With sufficient features it could even be an alternative to RVIZ and rqt.
For my purposes the following features would be useful (but I’m sure the community has varying needs):
- Topic echo
- Simulated Joystick
- Grid map
- 2D (or 3D) TF View
- Gamepad passthrough (if possible, to use controllers such as this)
I assume such a thing would be a built on the RobotWebTools server and client libraries.
If this doesn’t exist I’d be keen to have a crack! My web programming experience is very limited (background is more C++/embedded systems and MATLAB/control) but I’d give it a go.
Please let me know your thoughts (and my apologies if this is not the right place to post this).