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Tutorial: Deploying an example package

A RobotWebTools example package can be found in demo/rwt_interactive_markers. It bundles the interactive markers demo as a ROS package with a simple web interface.

High-level use

  1. Start server (see setup.md)
  2. Change into main directory, e.g. cd ~/ipde_utils
  3. If you are using Docker Toolbox (Win or Mac), you have to export IPDE_SESSIONS_URI=http://192.168.99.100:8000/sessions/
  4. ./launch.sh im_test demo/rwt_interactive_markers demo.launch, this will pull all dependencies and start demo.launch
  5. Wait for "Starting factory <twisted.web.server.Site instance"
  6. Visit http://127.0.0.1:8080/ (or http://192.168.99.100:8080/)
  7. Stop your example by hitting ctrl+c

You have been running an interactive marker demo with rosbrigde and a simple webserver without installing any of these on your host machine, you don't even need ROS for running it.

Low-level use

So let's have a look under the hood.

If you run ./list.sh you see your session, named im_test. This session label can be arbitrary, but should not contain spaces.

./launch.sh is a convenience wrapper for scripts that can be run indiviually.

First your local code needs to be deployed into a session: ./deploy.sh im_test2 demo/rwt_interactive_markers demo.launch. This finds or creates a session named im_test2. Then it retrieves the packaes name in demo/rwt_interactive_markers, you can as well provide a package name directly. In this case the directory will get found with rospack. Next demo.launch gets located inside this direcory. This way the session can be configured to launch $(find rwt_interactive_markers)/launch/demo.launch Finally your source code from the directory gets uploaded into your session.

./list.sh will now return (im_test2): build_state="none" configured="true" created="true" modified="true" run_state="none"

Now you have to build your session: ./build im_test2 This will pull dependencies again, but it will be faster because of the apt cache. ./list.sh will now confirm your build has completed (im_test2): build_state="done" configured="true" created="true" modified="false" run_state="none"

In case you want to review the log output again, you can use ./logs.sh im_test2 build.

Finally you might want to run your session: ./run.sh im_test2 You can now visit the web interface again. If you press ctrl+c now, the session will keep running. ./list.sh shows (im_test2): build_state="done" configured="true" created="true" modified="false" run_state="in_progress".

You have to stop it explicitly with ./stop.sh im_test2. The status can be confirmed with ./list.sh again: (im_test2): build_state="done" configured="true" created="true" modified="false" run_state="done" Of course, you can review the logs again: ./logs.sh im_test2 run.

Clean-up

If you're done with your tests, you can clean-up you sessions. This removes all data, logs, container and images ./rm.sh im_test im_test2