# ros2webserver

**Repository Path**: galaxy1229/ros2webserver

## Basic Information

- **Project Name**: ros2webserver
- **Description**: ros2webserver
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2025-11-18
- **Last Updated**: 2025-11-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: 鱼香ros

## README

# ROS2WebServer

基于ROS2的WebSocket服务器。

## 使用方法:

1.下载代码到工作空间的src 下

git clone https://gitee.com/ohhuo/ros2webserver.git

2.安装依赖

sudo apt-get install python3-pip ros-humble-rosbridge-suite -y
sudo pip3 install websockets

3.构建工程，在工作空间下 colcon build 即可

4.启动进程管理器

source install/setup.bash
ros2 run process_manager manager

5.启动服务器

监听所有网卡的9091端口

source install/setup.bash
ros2 run ros2webserver webserver  --adress 0.0.0.0  --port 9091

## 协议部分

### 启动导航:

```
python3 test_startup_nav.py 
---
Send:{"op": "startAlgorithm", "data": {"mapName": "test_map"}}
Recv:{"op": "startAlgorithm", "code": 0, "msg": "ok", "data": null}
```

### 停止导航:

```
python3 test_stop_nav.py 
---
Send:{"op": "stopNavigate", "data": null}
Recv:{"op": "stopNavigate", "code": 0, "msg": "ok", "data": null}
```
### 初始化位置:

```
python3 test_init_pose.py
---
Send:{"op": "initializePose", "data": {"x": 0.0, "y": 0.0, "angle": 0.0}}
Recv:{"op": "initializePose", "code": 0, "msg": "ok", "data": null}
```

### 获取位置信息:
```
python3 test_get_odom.py 
---
Send:{"op": "odomData", "data": null}
Recv:{"op": "odomData", "code": 1, "msg": "ok", "data": {"linearSpeed": 0.0, "angleSpeed": 0.0, "xPose": 8.881784197001252e-16, "yPose": 0.0, "angle": 0.0, "naviStatus": "wait"}}
```

#### 控制机器人:

```
python3 test_cmd_vel.py 
---
Send:{"op": "moveController", "data": {"angleSpeed": 0.1, "linearSpeed": 0.1}}
Recv:{"op": "moveController", "code": 1, "msg": null, "data": null}
```

### 导航到点:
```
python3 test_nav_pose.py 
====================单点================
Send:{"op": "goal", "data": {"poses": [{"xPose": 1.0, "yPose": 1.0, "angle": 0.0}]}}
Recv:{"op": "goal", "code": 0, "msg": "ok", "data": null}

====================多点================
Send:{"op": "goal", "data": {"poses": [{"xPose": 1.5, "yPose": 0.0, "angle": 1.57}, {"xPose": 0.0, "yPose": 0.0, "angle": 0.0}, {"xPose": 2.0, "yPose": 0.0, "angle": -1.57}]}}
Recv:{"op": "goal", "code": 0, "msg": "ok", "data": null}
```


### 取消导航到点:

```
python3 test_cancle_nav.py
---
Send:{"op": "cancle", "data": null}
Recv:{"op": "cancle", "code": 0, "msg": "ok", "data": null}
```

### 打开关闭图像流

图像流地址: http://hostip:5000/video_stream

```
python3 test_cancle_nav.py
---
=======打开======
Send:{"op": "openCamera", "data": {"topic": "/camera_sensor/image_raw"}}
Recv:{"op": "openCamera", "code": 0, "msg": "ok", "data": null}
=======关闭======
Send:{"op": "closeCamera", "data": null}
Recv:{"op": "closeCamera", "code": 0, "msg": "ok", "data": null}
```


## 获取雷达数据

```
python3 test_getlaserscan.py 
---
Send:{"op": "fetchLaserScan", "data": {}}
Recv:{"op": "fetchLaserScan", "code": 0, "msg": "ok", "data": {"ranges": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.4599902629852295, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 7.932766914367676, 7.747677803039551, 7.565978527069092, 7.386906147003174, 7.223710536956787, 7.078497409820557, 6.934166431427002, 6.800565242767334, 6.6559672355651855, 6.538515090942383, 6.414455413818359, 6.305796146392822, 6.2036213874816895, 6.086057186126709, 5.986487865447998, 5.922451496124268, 5.835676670074463, 5.769856929779053, 5.677460193634033, 5.610263824462891, 5.515103340148926, 5.461738586425781, 5.387600898742676, 5.314221382141113, 5.26582670211792, 5.206851482391357, 5.162062168121338, 5.119327545166016, 5.057610034942627, 5.029353618621826, 4.987170696258545, 4.921332836151123, 4.889571666717529, 4.859120845794678, 4.8452653884887695, 4.78987455368042, 4.784806728363037, 4.742095947265625, 4.708913326263428, 4.693421363830566, 4.6736369132995605, 4.639069557189941, 4.6376543045043945, 4.602105140686035, 4.587151050567627, 4.553150177001953, 4.575124740600586, 4.529712200164795, 4.531057357788086, 4.525941371917725, 4.507112503051758, 4.50590705871582, 4.494978904724121, 4.492842674255371, 4.499088287353516, 4.485973834991455, 4.517608165740967, 4.506112098693848, 4.5102667808532715, 4.490199565887451, 4.525468826293945, 4.514516353607178, 4.535886287689209, 4.5537004470825195, 4.544773578643799, 4.5485687255859375, 4.587843894958496, 4.589113712310791, 4.61114501953125, 3.3352129459381104, 3.1063709259033203, 2.906933307647705, 2.747371196746826, 2.600984811782837, 2.4402217864990234, 2.3991615772247314, 2.4010496139526367, 2.413947105407715, 2.4374053478240967, 2.4490580558776855, 2.481419563293457, 2.4834959506988525, 2.4969797134399414, 2.531243324279785, 2.572702169418335, 2.5866639614105225, 2.607409954071045, 2.641406297683716, 2.679042339324951, 2.7019577026367188, 2.724555730819702, 2.7632312774658203, 2.807734966278076, 2.8311409950256348, 3.752297878265381, 3.6728873252868652, 3.5901076793670654, 3.5078928470611572, 1.225553035736084, 1.169476866722107, 1.1527620553970337, 1.1103951930999756, 1.0934182405471802, 1.0794190168380737, 1.0363924503326416, 1.032806396484375, 1.018216848373413, 0.9792628288269043, 1.002302885055542, 0.9832159876823425, 0.9642332196235657, 0.9652944803237915, 0.965442955493927, 0.9640905261039734, 0.9673010110855103, 0.9625462889671326, 0.94719398021698, 0.9579112529754639, 0.9598860740661621, 0.9521939158439636, 0.96773761510849, 0.9814777374267578, 0.9765074253082275, 0.9684557318687439, 0.979302704334259, 0.9782201051712036, 1.0044212341308594, 1.0043998956680298, 1.0256456136703491, 1.0288448333740234, 1.0259658098220825, 1.0621843338012695, 1.0848733186721802, 1.109923005104065, 1.116554617881775, 1.1563303470611572, 1.1984301805496216, 1.3091390132904053, 2.3711588382720947, 2.3417110443115234, 2.3577561378479004, 2.3459320068359375, 2.3596458435058594, 2.348320484161377, 2.3468456268310547, 2.3312010765075684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 7.853549957275391, 7.50673246383667, 7.171150207519531, 6.8777031898498535, 6.6178460121154785, 6.35365629196167, 6.1413373947143555, 5.897934436798096, 5.706270217895508, 5.513186454772949, 5.356568336486816, 5.306113243103027, 5.377319812774658, 5.435965538024902, 5.482358932495117, 5.557307243347168, 5.643345832824707, 5.691219806671143, 5.774820327758789, 5.860443592071533, 5.9534077644348145, 6.036154747009277, 6.140200614929199, 6.235313415527344, 6.347858428955078, 6.4478440284729, 6.5577216148376465, 6.664773464202881, 6.810473442077637, 6.971155643463135, 0.0, 0.0, 0.0, 0.0, 7.980193138122559, 7.899991989135742, 7.7706990242004395, 7.671902179718018, 7.611312389373779, 7.528165340423584, 7.4549479484558105, 7.375915050506592, 7.32346248626709, 7.26045560836792, 7.169034004211426, 7.124788761138916, 7.059763431549072, 7.007001876831055, 6.961533069610596, 6.915116310119629, 6.860586166381836, 6.822774410247803, 6.7782883644104, 3.194145679473877, 3.1869986057281494, 3.219423532485962, 3.2072136402130127, 3.210458517074585, 3.2034261226654053, 3.1475236415863037, 3.1535868644714355, 3.1407718658447266, 3.1359548568725586, 3.145437717437744, 3.1216676235198975, 3.098604440689087, 3.116591215133667, 3.110949993133545, 3.107173204421997, 3.1123061180114746, 3.1147308349609375, 3.1034867763519287, 3.0978031158447266, 3.1035568714141846, 3.11513090133667, 3.1348214149475098, 3.0963797569274902, 3.1180026531219482, 3.1573612689971924, 3.149549722671509, 3.1391918659210205, 3.1552581787109375, 3.172762393951416, 3.1941184997558594, 3.1961288452148438, 3.2136926651000977, 3.222991704940796, 3.242732524871826, 3.2670247554779053, 3.2926981449127197, 3.314160108566284, 3.3219239711761475, 3.3515942096710205, 3.3765437602996826, 3.3903796672821045, 3.4329233169555664, 3.4683330059051514, 3.498239755630493, 3.4937593936920166, 3.529557228088379, 3.5817177295684814, 3.630850315093994, 3.674075126647949, 3.717036724090576, 3.766749143600464, 3.7893283367156982, 3.8477954864501953, 3.904566764831543, 3.94040846824646, 3.9974777698516846, 4.0558180809021, 4.113344192504883, 4.177659511566162, 4.2474045753479, 4.326677322387695, 4.412068843841553, 4.4930338859558105, 4.58593225479126, 4.659403324127197, 4.761302947998047, 4.8579277992248535, 4.95828104019165, 5.059377670288086, 5.1620659828186035, 5.290121555328369, 5.4410600662231445, 5.581874847412109, 5.731245040893555, 5.901607513427734, 6.067254543304443, 6.2354583740234375, 6.442697048187256, 6.645456314086914, 6.885965347290039, 7.127189636230469, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "intensities": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "angle_min": 0.0, "angle_max": 6.28000020980835, "angle_increment": 0.01749303564429283, "time_increment": 0.0, "scan_time": 0.0, "range_min": 0.11999999731779099, "range_max": 8.0}}
```