3D visualization of Universal Robots UR5 in web browser (video)

The installation of ROS Hydro (or newer distro) and Node.js is required. The following packages are also to be installed:

• universal_robots (or the driver package of your own robot)
• ur_modern_driver (in case UR 3.x is installed in your robot)
• joint_state_publisher
• tf2_web_republisher
• rosnodejs (only when you are running ROS Kinetic or newer distro)
• ws

Clone this repository in Catkin source folder:

cd ~/catkin_ws/src
git clone [email protected]:CRH380B-6216L/webROSGUI_prototype1.git
mv -T webROSGUI_prototype1 prototype_1

Connect the robot and the host under the same network and run the following command on the host:

roslaunch prototype_1 start.launch robot_ip:=[XXX.XXX.XXX.XXX] (ip of the robot)

Then open the website by directly opening index.html or enter the hosted URL. You will see a URDF visual pane and a list of joints after a successful connection. You can interact with the visual pane to see the robot in a different view.

All the joints of the robot is shown below the visual pane.

roslibjs and ros3djs by RobotWebTools is used in this repository.