albertojusto/alteregoapp repository overview

⁠Guide for releasing AlterEgo UI webpage through Docker

⁠About the project

This Docker image encloses a web application for tracking and controling AlterEgo independently from ROS. Once launched through Portainer, it automatically provides the UI by connecting to localhost:3001. It relies on AlterEgo simulations repository, developed by the bello Giovanni Rosato, but could be implemented for other robots in the future, including real applications as well.

⁠Prerequisites

Here is stated a list of packages, libraries and dependencies needed to work with this image:

• Docker (https://phoenixnap.com/kb/how-to-install-docker-on-ubuntu-18-04⁠)
• Portainer (https://docs.fuga.cloud/how-to-install-portainer-docker-ui-manager-on-ubuntu-20.04-18.04-16.04⁠)
• ros_bridge (http://wiki.ros.org/rosbridge_suite⁠)
• rosping (http://wiki.ros.org/rosping⁠)
• A healthy state of mind to avoid programming in JavaScript (not as mine)

⁠Installation

• Firstly, type the following on your terminal:

    docker pull albertojusto/alteregoapp:<tagname>

Tagname may vary depending on the version you want to download.

• Once downloaded, build and run using:

  docker run     -it     -v ${PWD}:/app     -v /app/node_modules     -p 3003:3000     -e CHOKIDAR_USEPOLLING=true     albertojusto/alteregoapp:<tagname>

• After this, you can already work with it through Portainer: start, stop, change nametag, etc.

⁠How it works

Just follow these steps:

• App executed through Portainer, access on port 3001.

• IP Setup: Once the App container is running, inside of VS Code, on the Docker extension, go to the application file Config.js and change the topic ROSBRIDGE_IP to your robot's IP.

• Ego simulation:

    roslaunch ego_description ego_gazebo.launch

• Ros Bridge via web socket:

    roslaunch rosbridge_server rosbridge_websocket.launch

• Ros Ping where your ROS_MASTER_URI is:

    rosrun rosping rosping <ROS_MASTER_URI>

• For selecting each mode (teleoperation, SLAM and RViz or just Rviz), go to terminal's menu. In the case for SLAM, after refreshing the webpage, the map will appear.

⁠Roadmap

• 3D model inclusion of Ego, via GZWeb for Gazebo and ROS3DJS library for RViz.
• Tracking of battery states and other interesting measurements to be taken into account.
• Inclusion of more App components like map zooming and paning, save map, selection mode, etc.
• Testing on real Ego
• Implementation on different robots besides Ego