ROS与javascript入门教程-mjpegcanvasjs-单视频显示

ROS与javascript入门教程-mjpegcanvasjs-单视频显示

说明：

介绍如何通过mjpegcanvasjs显示单视频

步骤：

新建Single-Stream.html
代码如下：

<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script type="text/javascript" src="http://cdn.robotwebtools.org/mjpegcanvasjs/current/mjpegcanvas.min.js"></script>

<script type="text/javascript" type="text/javascript">
  /**
   * Setup all visualization elements when the page is loaded. 
   */
  function init() {
    // Create the main viewer.
    var viewer = new MJPEGCANVAS.Viewer({
      divID : 'mjpeg',
      host : 'localhost',
      width : 640,
      height : 480,
      topic : '/wide_stereo/left/image_color'
    });
  }
</script>
</head>

<body onload="init()">
  <h1>Simple MJPEG Canvas Example</h1>
  <div id="mjpeg"></div>
</body>
</html>

代码解析：

代码段：

var viewer = new MJPEGCANVAS.Viewer({
  divID : 'mjpeg',
  host : 'localhost',
  width : 640,
  height : 480,
  topic : '/wide_stereo/left/image_color'
});

解释：
- 创建MJPEGCANVAS.Viewer对象，用于放置图片
- 显示/wide_stereo/left/image_color话题内容

运行：

需要pr2_simulator and mjpeg_server包
服务器，新终端，运行

roslaunch pr2_gazebo pr2_empty_world.launch

服务器，新终端，运行

rosrun mjpeg_server mjpeg_server

浏览器访问Single-Stream.html

参考：

http://wiki.ros.org/mjpegcanvasjs/Tutorials/CreatingASingleStreamCanvas