The husarion-webui snap includes web user interfaces for Panther, ROSbot XL and ROSbot 2 running in Foxglove.
Parameters
The snap provides the following configurable parameters (param name: default value):
ros: {...}webui: {...}The ros contains the following keys:
ros.domain-id: 0 - Sets the ROS_DOMAIN_ID environment variable for the ROS driver.ros.localhost-only: 0 - Sets the ROS_LOCALHOST_ONLY environment variable for the ROS driver.ros.transport: udp - Configures DDS transport. Options are udp, shm, builtin (or rmw_fastrtps_cpp), rmw_cyclonedds_cpp. Corresponding DDS XML files can be found in the /var/snap/husarion-webui/common directory (custom FastDDS setups can also be created here).ros.namespace: (unset) - Namespace for all topics and transforms.The webui contains the following keys:
webui.layout: default - Specifies the layout for the Web UI. Available *.json layout files can be found in the /var/snap/husarion-webui/common directory (custom layouts can also be created here).webui.port: 8080 - Specifies the port for the built-in web server hosting the Web UI.To set parameters, use the snap set command, e.g.,
snap set husarion-webui webui.layout=panther
Available Apps (Main)
husarion-webui.start - Start the daemon running the web UI server.husarion-webui.stop - Stop the daemon running the web UI server.Working with ROS Parameters
For multiple snaps running ROS 2 or host-snap-Docker communication, useful files and scripts are available in /var/snap/husarion-webui/common/.
Example usage:
# Set parameters in the husarion-webui snap
sudo snap set husarion-webui ros.transport=udp ros.domain-id=123 ros.namespace=abc
# Mirror the setup for other ROS 2 snaps
sudo snap set husarion-depthai $(cat /var/snap/husarion-webui/common/ros_snap_args)
sudo snap set husarion-rplidar $(cat /var/snap/husarion-webui/common/ros_snap_args)
# Set up the current shell with the same configurations
source /var/snap/husarion-webui/common/ros.env
# Install configurations with
/var/snap/husarion-webui/common/manage_ros_env.sh
source ~/.bashrc
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap __ns:=/${ROS_NAMESPACE}
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snap is available for Red Hat Enterprise Linux (RHEL) 8 and RHEL 7, from the 7.6 release onward.
The packages for RHEL 7, RHEL 8, and RHEL 9 are in each distribution’s respective Extra Packages for Enterprise Linux (EPEL) repository. The instructions for adding this repository diverge slightly between RHEL 7, RHEL 8 and RHEL 9, which is why they’re listed separately below.
The EPEL repository can be added to RHEL 9 with the following command:
sudo dnf install https://dl.fedoraproject.org/pub/epel/epel-release-latest-9.noarch.rpm
sudo dnf upgrade
The EPEL repository can be added to RHEL 8 with the following command:
sudo dnf install https://dl.fedoraproject.org/pub/epel/epel-release-latest-8.noarch.rpm
sudo dnf upgrade
The EPEL repository can be added to RHEL 7 with the following command:
sudo rpm -ivh https://dl.fedoraproject.org/pub/epel/epel-release-latest-7.noarch.rpm
Adding the optional and extras repositories is also recommended:
sudo subscription-manager repos --enable "rhel-*-optional-rpms" --enable "rhel-*-extras-rpms"
sudo yum update
Snap can now be installed as follows:
sudo yum install snapd
Once installed, the systemd unit that manages the main snap communication socket needs to be enabled:
sudo systemctl enable --now snapd.socket
To enable classic snap support, enter the following to create a symbolic link between /var/lib/snapd/snap and /snap:
sudo ln -s /var/lib/snapd/snap /snap
Either log out and back in again or restart your system to ensure snap’s paths are updated correctly.
To install husarion-webui, simply use the following command:
sudo snap install husarion-webui
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Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.
