Roslaunch rosbridge_server rosbridge_websocket.launch

cfengli · July 31, 2018, 5:37pm

Hi,

I want to launch roslaunch rosbridge_server rosbridge_websocket.launch in order to test speechcommand voice. Launch looks good, but when I “rostopic list”, there is no rosbridge_server. So it does not work.

Thanks
fengli

rohbotics · July 31, 2018, 5:52pm

Rosbridge doesn’t open a topic automatically.

If you run rosnode list you should see it listed.

Rohan

cfengli · July 31, 2018, 6:12pm

Hi Rohan,
Thanks Rohan.

Yes, I can see it, but when I use wss:// login robot server, it failed.
When I use ws and http, it works good.

rohbotics · July 31, 2018, 6:29pm

Please use port 9443 for wss and 9090 for ws.

There is probably also a certificate issue, if the above doesn’t work, please check the output of the JS console in your browser.

Rohan

cfengli · July 31, 2018, 6:31pm

Thanks Rohan,
Let me try it.

cfengli · July 31, 2018, 7:09pm

Hi Rohan,

Yes, there is a certificate issue.
roslib.min.js:1 WebSocket connection to ‘wss://10.192.56.203:9443/’ failed: Error in connection establishment: net::ERR_CERT_AUTHORITY_INVALID

Thanks
fengli

cfengli · July 31, 2018, 8:42pm

Hi Rohan,

How can I fix it, I look at this cert is not same as others.

Thanks
fengli

rohbotics · July 31, 2018, 9:08pm

This is a self-signed certificate, so it wont be accepted by your browser.

You can manually import the certificate, or you can run chrome like this google-chrome --ignore-certificate-errors on your local command line so that it doesn’t look at the certificates.

Rohan

cfengli · July 31, 2018, 10:24pm

Hi Rohan,

Thank you very much. It works.

fengli

cfengli · July 31, 2018, 11:23pm

Hi Rohan,

Excuse me, I have another question, can I use waypoints in Rviz? I seached “follow_waypoints” in ROS.

Thank you Rohan.
fengli

rohbotics · July 31, 2018, 11:24pm

Unfortunately no, you cannot.

The waypoints are actually a feature of robot commander, not a ROS feature.

Rohan

cfengli · August 1, 2018, 12:06am

Thank you Rohan.

cfengli · August 1, 2018, 9:34pm

Hi Rohan,

I am testing speechcommand waypoints setting, and it does not work, the robot’s position could not be determined.

Thanks
fengli

cfengli · August 1, 2018, 9:52pm

Hi Rohan,

It works, thanks you .

rohbotics · August 1, 2018, 10:10pm

Hi,

If you resolved your own issue, please post the solution as well.
This way if anyone comes upon this in the future, they can see what you did.

Thanks
Rohan

cfengli · August 1, 2018, 11:00pm

Hi Rohan,
I add the following the roslaunch, and then it works well.
I roslaunch magni_bringup base.launch
roslaunch magni_nav aruco.launch
roslaunch magni_nav move_basic.launch

Thanks you Rohan.