Webviz安装记录
云间之龙
  2024-10-25 19:34:09 2024-10-25 19:34  

webviz

  • docker 镜像拉取

    • 配置daemon.json 

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      sudo gedit /etc/docker/daemon.json

      # 内容
      {
          "runtimes": {
              "nvidia": {
                  "path": "nvidia-container-runtime",
                  "runtimeArgs": []
              }
          },
          "registry-mirrors": [
              "https://mirror.tuna.tsinghua.edu.cn/docker/",
              "http://hub-mirror.c.163.com",
              "https://reg-mirror.com",
              "https://docker.registry.cyou",
              "https://docker-cf.registry.cyou",
              "https://dockercf.jsdelivr.fyi",
              "https://docker.jsdelivr.fyi",
              "https://dockertest.jsdelivr.fyi",
              "https://mirror.aliyuncs.com",
              "https://dockerproxy.com",
              "https://mirror.baidubce.com",
              "https://docker.m.daocloud.io",
              "https://docker.nju.edu.cn",
              "https://docker.mirrors.sjtug.sjtu.edu.cn",
              "https://docker.mirrors.ustc.edu.cn",
              "https://mirror.iscas.ac.cn",
              "https://docker.rainbond.cc"
          ]
      }

      # 重启docker

      sudo systemctl daemon-reload
      sudo systemctl restart docker

    • docker run -p 8080:8080 cruise/webviz

  • 启动rosbridge

    • 首先安装rosbridge

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      sudo apt install ros-noetic-rosbridge-suite

    • 启动

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      roslaunch rosbridge_server rosbridge_websocket.launch

  • 启动ros程序，确保话题发布到ros中

  • 访问webviz

    • 本地访问

      打开ws://localhost:8080

    • 局域网内访问

      使用ip访问

      192.168.110.158:8080/?rosbridge-websocket-url=ws://192.168.110.158:9090

  • 参考链接