[WIP] Prototype #1
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cabot-app スマホでのRViz代替機能のためのros3djs使用web表示
Topic: /map | Type: [nav_msgs/msg/OccupancyGrid]
Topic: /cabot/pose_log | Type: [cabot_msgs/msg/PoseLog]
Topic: /scan | Type: [sensor_msgs/msg/LaserScan]
Topic: /people | Type: [people_msgs/msg/People]
Topic: /plan | Type: [nav_msgs/msg/Path]
messageTypeはros3djsの設定と異なる場合があるので、パラメータで指定できるように修正
OccupancyGridのマップの色はros2djsと異なるので、ros3djsの該当箇所をros2djsの処理に差し替え
peopleは存在しないため、pointを参考に新規作成
この中で使用しているroslibはros2で動作させるために
https://github.com/CMU-cabot/roslibjs/tree/ros2actionclient-tf
をビルドしたものを組み込んだものです。