Running Robot Commander on Ubuntu


#1

The Robot commander app works fine on Raspberry Pi with the ubiquity image, but I can’t connect to a laptop running the software launch suggested from the documentation on the github.

this is the log of the launch file:

  • /rosbridge_websocket/address:
  • /rosbridge_websocket/authenticate: False
  • /rosbridge_websocket/certfile: /etc/ssl/certs/ss…
  • /rosbridge_websocket/delay_between_messages: 0
  • /rosbridge_websocket/fragment_timeout: 600
  • /rosbridge_websocket/keyfile: /etc/ssl/certs/ss…
  • /rosbridge_websocket/max_message_size: None
  • /rosbridge_websocket/params_glob: [*]
  • /rosbridge_websocket/port: 9090
  • /rosbridge_websocket/retry_startup_delay: 5
  • /rosbridge_websocket/services_glob: [*]
  • /rosbridge_websocket/topics_glob: [*]
  • /rosbridge_websocket/unregister_timeout: 10
  • /rosbridge_websocket/use_compression: False
  • /rosdistro: kinetic
  • /rosversion: 1.12.14
  • /use_sim_time: False

NODES
/
arbotix (arbotix_python/arbotix_driver)
robot_state_publisher (robot_state_publisher/state_publisher)
rosapi (rosapi/rosapi_node)
rosbridge_websocket (rosbridge_server/rosbridge_websocket)
tf2_web_republisher (tf2_web_republisher/tf2_web_republisher)

auto-starting new master
process[master]: started with pid [3656]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 90751398-5c7a-11e9-aa60-4ceb42392ab0
process[rosout-1]: started with pid [3671]
started core service [/rosout]
process[arbotix-2]: started with pid [3690]
process[robot_state_publisher-3]: started with pid [3691]
process[rosbridge_websocket-4]: started with pid [3692]
process[rosapi-5]: started with pid [3693]
process[tf2_web_republisher-6]: started with pid [3695]
registered capabilities (classes):

  • rosbridge_library.capabilities.call_service.CallService
  • rosbridge_library.capabilities.advertise.Advertise
  • rosbridge_library.capabilities.publish.Publish
  • rosbridge_library.capabilities.subscribe.Subscribe
  • <class ‘rosbridge_library.capabilities.defragmentation.Defragment’>
  • rosbridge_library.capabilities.advertise_service.AdvertiseService
  • rosbridge_library.capabilities.service_response.ServiceResponse
  • rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
    [INFO] [1555001712.708465]: Rosbridge WebSocket server started on port 9090
    [INFO] [1555001713.273321]: ArbotiX being simulated.
    [INFO] [1555001713.315356]: Started DiffController (base_controller). Geometry: 0.26m wide, 4100.0 ticks/m.

the app fails to connect when going to ws://$ip:9090.

Works fine on an RPi.


#2

How are you running the “Robot Commander App” on your ubuntu laptop?

Are you using the speech_commands web interface? If so how are you loading it into your browser? What is the full url of the page that you loaded?


#3

Problem solved, rosbridge launch was trying to load key file from private directory that it didn’t have permission for.