[ros-users] Simple URDF viewer

Toris, Russell Charles rctoris at WPI.EDU
Fri Mar 29 16:23:24 UTC 2013

To follow up on what Sarah said, as part of the Robot Web Tools effort, we have a lot of exciting new JavaScript software on its way!

To help make web robotics easier for web programmers (and robotics researchers), we have started to compose some clean, standardized libraries for general use. The main, core ROS JavaScript library is now being ported into roslibjs: https://github.com/RobotWebTools/roslibjs This library connects to ROS using the rosbridge v2 protocol (websocket server implementation available at https://github.com/RobotWebTools/rosbridge_suite) and contains core features like topics, services, parameters, a TF client, and an actionlib client.

In addition to this, work is also be put into both 2D and 3D libraries. The 2D library is still in its infancy but the 3D now has its first stable release with some early features (https://github.com/RobotWebTools/ros3djs) including: maps, interactive markers, URDFs, and markers. We even have some live demos up if anyone is interested (providing nothing crashes server-side)!

  *   For maps, check out  http://demo.robotsfor.me/ros3djs/examples/map.html
  *   For URDFs, check out http://demo.robotsfor.me/ros3djs/examples/urdf.html
  *   For markers, check out http://demo.robotsfor.me/ros3djs/examples/markers.html
  *   For interactive markers, check out http://demo.robotsfor.me/ros3djs/examples/interactivemarkers.html

Be sure to checkout the AUTHORS file in the associated projects to see current contributors!


Russell Toris
Graduate Student | WPI Department of Computer Science
rctoris at wpi.edu | http://users.wpi.edu/~rctoris/

From: ros-users-bounces at code.ros.org [ros-users-bounces at code.ros.org] on behalf of Osentoski Sarah (CR/RTC1.1-NA) [Sarah.Osentoski at us.bosch.com]
Sent: Friday, March 29, 2013 12:12 PM
To: User discussions
Subject: Re: [ros-users] Simple URDF viewer

Igor, that looks very very cool.  It’s super neat that you can edit the URDF on the fly.

Dereck, If you are interested in joining the group of people working on robot web interfaces we would love to have you!  There are quite a few people participating in this.

Brown made it easy to communicate with robots over web sockets via rosbridge: (http://www.ros.org/wiki/rosbridge)  this tool has now been upgraded and a hardened version now exists: (http://www.ros.org/wiki/rosbridge_suite)

Bosch worked on making a first WebGL frontend bosch_web_visualization (http://www.ros.org/wiki/wviz) as part of our remote lab project (http://pr2-remotelab.com/)

This work has now expanded into a large community effort which is very exciting: http://robotwebtools.org/

WPI: recently released a lovely robot management system RMS (http://www.ros.org/wiki/rms) that allows you to do really powerful things including user studies and user management as part of their RobotsFor.Me (https://robotsfor.me/)

There was a roscon talk about this last year (http://www.youtube.com/watch?v=9hiUPMC-3KE)  and there will be another one this year at 9am on May 12 (http://roscon.ros.org/2013/?page_id=14)

In addition, although I don’t have links companies like ClearPath Robotics and Yujin Robotics have also been working in this space and making contributions.

Best regards / Mit freundlichen Grüßen

Sarah Osentoski

Robert Bosch LLC
Research and Technology Center
4005 Miranda Avenue, Suite 200
Palo Alto, CA 94304
Phone: +1 650 320-2969
sarah.osentoski at us.bosch.com<mailto:sarah.osentoski at us.bosch.com>

From: ros-users-bounces at code.ros.org [mailto:ros-users-bounces at code.ros.org] On Behalf Of Dereck Wonnacott
Sent: Friday, March 29, 2013 6:23 AM
To: User discussions
Subject: Re: [ros-users] Simple URDF viewer

Indeed, very cool!

I've toyed with the idea of making a webgl version of rviz so that you can just open up a web browser and control your robot without needing to install ROS or even linux on your computer.  I just tested this app on the latest version of chrome for android on a nexus 10 and Razr and it worked pretty well even! I can't move the 'camera' by touching and dragging but I can manipulate the joint angles and such.

I think this just hit my todo list. :)


“The greater danger for most of us lies not in setting our aim too high and falling short; but in setting our aim too low, and achieving our mark.” - Michelangelo

On Fri, Mar 29, 2013 at 2:27 AM, Igor <reinadesu at gmail.com<mailto:reinadesu at gmail.com>> wrote:
I've created simple URDF viewer. My aim is to be able to view and
debug robot models directly in a (modern) browser.

Viewer is available at:
I've put Pi Robot by Patrick Goebel as a demo robot.

At the moment the app is capable of parsing urdf robot into 3D model
visible in browser with movable joints. It does not read or show STL
files yet.

Currently I am working on animating robot by trajectory from text file.

I hope this project will be useful for someone. If you want to
contribute, fork the project from:

Igor Zubrycki
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