Running Robot Commander on Ubuntu


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

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]

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.


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?


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