源码编译运行webviz

源码编译运行webviz

建议全程在代理环境下进行! 加代理都麻烦的要死, 无代理建议换个方式, linux就用rviz, windows考虑用foxglove吧

此外, 我尝试在arm架构使用webviz, 但是尽管编译成功, 但是出不了图, 看不到相关消息, 如果有大佬知道为什么还请不吝赐教!

git clone https://github.com/cruise-automation/webviz.git
cd webviz
sudo apt install npm
npm run bootstrap
npm run build-static-webviz

# 运行webviz
npm run serve-static-webviz 

TroubleShooting

报错 /usr/bin/git ls-remote -h -t + 仓库名

npm ERR! Error while executing:
npm ERR! /usr/bin/git ls-remote -h -t ssh://git@github.com/davidswinegar/chartjs-plugin-datalabels.git

解决:

cd packages/webviz-core
vim package-lock.json

使用/git+ssh 查找所有带git+ssh的字段, 切换为 https://

举个例子

git+ssh://git@github.com/troygibb/react-mosaic.git#860c8d70ba3c723be07bc6208f0d05e2c3f2915f
# 把前面的 git+ssh://git@ 换成 https://
https://github.com/troygibb/react-mosaic.git#860c8d70ba3c723be07bc6208f0d05e2c3f2915f

报错 sha 512 xxxxxxxx 验证不通过

cd packages/webviz-core
vim package-lock.json

通过/chart.js 查找 chart.js并将括号中的验证行(integrity)删掉, 删除完成以后大概长这个样子

报错 path = process.cwd(); Error: ENOENT: no such file or directory, uv_cwd

原因: nodejs版本太低, 10.19不行, 要升级到12

# 在下面这行命令执行的过程中会有警告, 因为12也是老版本, 需要等待20s以后才执行该命令, 再等60s以后才开始正式刷新源
curl -sL https://deb.nodesource.com/setup_12.x | sudo -E bash -
sudo apt-get install -y nodejs

webviz显示实时运行的信息

主要就是需要一个rosbridge的协助, rosbridge默认的端口为0.0.0.0:9090, 需要修改的话, 建议自建一个rosbridge.launch

# 下载rosbridge
sudo apt update
sudo apt install ros-<rosdistro>-rosbridge-suite

# 不需要改端口直接按下面的指令就可以
roslaunch <自己的包> <自己的launch>
roslaunch rosbridge_server rosbridge_websocket.launch # 在0.0.0.0:9090启动rosbridge
cd /path/to/webviz #切换到webviz目录
npm run serve-static-webviz 

如果需要修改ip以及端口, 示例launch文件如下, 这是默认的rosbridge_websocket.launch, 只是修改了地址, 建议不要改端口, 因为webviz监听的是9090, 而我不知道怎么改webviz的端口emmmm

注: rosapi这个node不要删, 因为webviz会通过rosapi去获取消息的类型, 从而显示在浏览器上

<launch>
  <arg name="port" default="9090" />
  <arg name="address" default="10.168.2.183" />
  <arg name="ssl" default="false" />
  <arg name="certfile" default=""/>
  <arg name="keyfile" default="" />

  <arg name="retry_startup_delay" default="5" />

  <arg name="fragment_timeout" default="600" />
  <arg name="delay_between_messages" default="0" />
  <arg name="max_message_size" default="None" />
  <arg name="unregister_timeout" default="10" />
  <arg name="websocket_external_port" default="None" />

  <arg name="use_compression" default="false" />

  <arg name="authenticate" default="false" />

  <arg name="websocket_ping_interval" default="0" />
  <arg name="websocket_ping_timeout" default="30" />
  <arg name="websocket_null_origin" default="true" />

  <arg name="topics_glob" default="[*]" />
  <arg name="services_glob" default="[*]" />
  <arg name="params_glob" default="[*]" />
  <arg name="bson_only_mode" default="false" />
  <!-- Output: screen, log -->
  <arg name="output" default="screen" />

  <!-- Valid options for binary_encoder are "default", "b64" and "bson". -->
  <arg unless="$(arg bson_only_mode)" name="binary_encoder" default="default"/>

  <group if="$(arg ssl)">
    <node name="rosbridge_websocket" pkg="rosbridge_server" type="rosbridge_websocket" output="$(arg output)">
      <param name="certfile" value="$(arg certfile)" />
      <param name="keyfile" value="$(arg keyfile)" />
      <param name="authenticate" value="$(arg authenticate)" />
      <param name="port" value="$(arg port)"/>
      <param name="address" value="$(arg address)"/>
      <param name="retry_startup_delay" value="$(arg retry_startup_delay)"/>
      <param name="fragment_timeout" value="$(arg fragment_timeout)"/>
      <param name="delay_between_messages" value="$(arg delay_between_messages)"/>
      <param name="max_message_size" value="$(arg max_message_size)"/>
      <param name="unregister_timeout" value="$(arg unregister_timeout)"/>
      <param name="use_compression" value="$(arg use_compression)"/>

      <param name="websocket_ping_interval" value="$(arg websocket_ping_interval)" />
      <param name="websocket_ping_timeout" value="$(arg websocket_ping_timeout)" />
      <param name="websocket_external_port" value="$(arg websocket_external_port)" />
      <param name="websocket_null_origin" value="$(arg websocket_null_origin)" />

      <param name="topics_glob" value="$(arg topics_glob)"/>
      <param name="services_glob" value="$(arg services_glob)"/>
      <param name="params_glob" value="$(arg params_glob)"/>
    </node>
  </group>
  
  <group unless="$(arg ssl)">
    <node name="rosbridge_websocket" pkg="rosbridge_server" type="rosbridge_websocket" output="$(arg output)">
      <param name="authenticate" value="$(arg authenticate)" />
      <param name="port" value="$(arg port)"/>
      <param name="address" value="$(arg address)"/>
      <param name="retry_startup_delay" value="$(arg retry_startup_delay)"/>
      <param name="fragment_timeout" value="$(arg fragment_timeout)"/>
      <param name="delay_between_messages" value="$(arg delay_between_messages)"/>
      <param name="max_message_size" value="$(arg max_message_size)"/>
      <param name="unregister_timeout" value="$(arg unregister_timeout)"/>
      <param name="use_compression" value="$(arg use_compression)"/>

      <param name="websocket_ping_interval" value="$(arg websocket_ping_interval)" />
      <param name="websocket_ping_timeout" value="$(arg websocket_ping_timeout)" />
      <param name="websocket_external_port" value="$(arg websocket_external_port)" />

      <param name="topics_glob" value="$(arg topics_glob)"/>
      <param name="services_glob" value="$(arg services_glob)"/>
      <param name="params_glob" value="$(arg params_glob)"/>

      <param name="bson_only_mode" value="$(arg bson_only_mode)"/>
    </node>
  </group>

  <node name="rosapi" pkg="rosapi" type="rosapi_node" output="$(arg output)">
    <param name="topics_glob" value="$(arg topics_glob)"/>
    <param name="services_glob" value="$(arg services_glob)"/>
    <param name="params_glob" value="$(arg params_glob)"/>
  </node>

  </launch>

成品效果图: