serving Foxy + Gazebo11 to a Web Broswer

[mis-eu]

Please validate if ros2-web-bridge supports deploying a ROS2 Foxy 20.04 Focal simulation via gzclient11 to a Web browser (gzweb is still ROS1)

<title>Gazebo11 Web Bridge v 0.0.1</title>

<link rel="stylesheet" href="css/base.css">

<script type="text/javascript" src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>

<!-- GAZEBO config
    [gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
    [gazebo-1] [Msg] Publicized address: 172.31.159.229
-->

<!-- ROS2-web-bridge 
    $ node bin/rosbridge.js 
    ros2-web-bridge: ROS2 node started +0ms
    ros2-web-bridge: Starting server on port 9090 +1ms
    Websocket started on ws://localhost:9090 -->

<script>
	let ros = new ROSLIB.Ros();
	let bridgeHost = window.location.hostname;
	let bridgePort = 9090;

// monitor the connection    
// listener for a connection event to the ros object. 
// two blocks following do the same for error and close events. 
    
	ros.on('connection', function() {
	console.log('bridge connected');
});
    ros.on('error', function(error) {
	console.log('Error connecting to websocket server: ', error);
});
    ros.on('close', function() {
	console.log('Connection to websocket server closed.');
});
    ros.connect('ws://' + bridgeHost + ':' + bridgePort);
   

</script>  


<iframe id="iframeGazebo" src="http://172.31.159.229:11345"></iframe>

[minggangw]

I never try to combine them together, my first thought is that as ROSLIB doesn't aware if backed by ROS 1 or ROS 2, it seems feasible to interact gzweb with ros2-web-bridge by the ROSLIB.

[mis-eu]

thank you for this response @minggangw, about the ROSLIB being agnostic to ros1/ros2.

To your knowledge, can ros2-web-bridge serve a full Gazebo11 Foxy world/model simulation to a Browser?