Robotont Webapp

Prerequisites

Install prerequisites from APT repositories

curl -fsSL https://deb.nodesource.com/setup_14.x | sudo -E bash -
sudo apt-get update
sudo apt-get install -y build-essential cmake git libjson-c-dev libwebsockets-dev ros-noetic-web-video-server ros-noetic-rosbridge-server ros-noetic-tf2-web-republisher nodejs

Update node version

npm install -g n
n latest

Build & install ttyd (for sharing terminal on the web)

git clone https://github.com/tsl0922/ttyd.git
cd ttyd && mkdir build && cd build
cmake ..
make && sudo make install

For further information please see the ttyd readme.

Depthcloud encoder

Add depthcloud_encoder package under the src folder of your catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/RobotWebTools/depthcloud_encoder.git

Build the package with nodejs backend and frontend

In your catkin workspace run:

cd ~/catkin_ws
catkin build

Launch the web application

roslaunch robotont_webapp webapp.launch

The website will be available on port 3000 e.g. http://192.168.200.1:3000

Redirecting port 80

To access the server on port 80, such that no port has to be specified in the addressbar, a redirect firewall rule can be set up with the following commands:

sudo iptables -t nat -A PREROUTING -i wlp58s0 -p tcp --dport 80 -j REDIRECT --to-port 3000
sudo apt install -y iptables-persistent
sudo iptables-save | sudo tee /etc/iptables/rules.v4

You might need to adapt the network interface name (wlp58s0) in the above commands to what is present in your robotont. Check with ip addr command.