roswww_static: infrastructure for web-based Clover plugins (#230)

* Package for generating static web sites for ROS

* rosstatic: add CMakeLists.txt

* rosstatic: utilize rospkg, store static directory in ROS_HOME

* rosstatic: default_package param

* rosstatic: fix URLs in docs

* clover.launch: make clover the default package for www

* Unused import

* Rename rosstatic to roswww_static

* Fixes

builder/assets/monkey

@@ -20,7 +20,7 @@
     # Example:
     #      DocumentRoot /home/krypton/htdocs
 
-    DocumentRoot /home/pi/catkin_ws/src/clover/clover/www
+    DocumentRoot /home/pi/.ros/www
 
     # Redirect:
     # ---------

clover/launch/clover.launch

@@ -82,4 +82,9 @@
 
     <!-- Shell access through ROS service -->
     <node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
+
+    <!-- Update static directory -->
+    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
+        <param name="default_package" value="clover"/>
+    </node>
 </launch>

clover/www/index.html

@@ -12,8 +12,8 @@
 
 <script src="js/roslib.js"></script>
 <script type="text/javascript">
-	document.querySelector("#wvs").href = location.origin + ':8080';
-	document.querySelector("#butterfly").href = location.origin + ':57575';
+	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
+	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
 	// Determine image version
 	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });

docs/en/javascript.md

@@ -41,7 +41,7 @@ An example of a web page, working with `roslib.js`:
 
 [Taking off, landing and all the rest operations](programming.md) can be implemented in a similar way.
 
-The page should be placed in the `/home/pi/catkin_ws/src/clover/clover/www/` directory. After that, it will be available at `http://192.168.11.1/<page_name>.html`. When the page is opened, browser should show an alert with the drone telemetry and constantly print the state of the flight controller to the console.
+The page should be placed in the `/home/pi/catkin_ws/src/clover/clover/www/` directory. After that, it will be available at `http://192.168.11.1/clover/<page_name>.html`. When the page is opened, browser should show an alert with the drone telemetry and constantly print the state of the flight controller to the console.
 
 <img src="../assets/js-ros.png" class="center zoom"/>
 
@@ -49,6 +49,6 @@ See additional information in [`roslibjs` tutorial](http://wiki.ros.org/roslibjs
 
 ## Web GCS
 
-See an example of simplified web ground control station on Clover at http://192.168.11.1/gcs.html.
+See an example of simplified web ground control station on Clover at http://192.168.11.1/clover/gcs.html.
 
 <img src="../assets/web-gcs.png" class="center zoom"/>

docs/ru/javascript.md

@@ -41,7 +41,7 @@
 
 [Взлет, посадка и все остальные операции](programming.md) могут быть осуществлены аналогичным образом.
 
-Страница должна быть помещена в каталог `/home/pi/catkin_ws/src/clover/clover/www/`. После этого она станет доступна по адресу `http://192.168.11.1/<имя_страницы>.html`. При открытии страницы браузер должен показать окно с телеметрией дрона, а также постоянно выводить состояние полетного контроллера в консоль.
+Страница должна быть помещена в каталог `/home/pi/catkin_ws/src/clover/clover/www/`. После этого она станет доступна по адресу `http://192.168.11.1/clover/<имя_страницы>.html`. При открытии страницы браузер должен показать окно с телеметрией дрона, а также постоянно выводить состояние полетного контроллера в консоль.
 
 <img src="../assets/js-ros.png" class="center zoom"/>
 
@@ -49,6 +49,6 @@
 
 ## Браузерная GCS
 
-Смотрите также пример реализации упрощенной браузерной наземной станции (GCS) на Клевере по адресу http://192.168.11.1/gcs.html.
+Смотрите также пример реализации упрощенной браузерной наземной станции (GCS) на Клевере по адресу http://192.168.11.1/clover/gcs.html.
 
 <img src="../assets/web-gcs.png" class="center zoom"/>

roswww_static/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.0)
+project(roswww_static)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

roswww_static/README.md

@@ -0,0 +1,17 @@
+# roswww_static
+
+roswww_static creates a static web directory for your ROS-powered system with symlinks to all the `www` subdirectories found in your ROS packages. This way you can use any external web server (e. g. [nginx](https://nginx.org/), [Monkey](https://github.com/monkey/monkey), [Caddy](https://caddyserver.com)) to serve you static data, in compatible with `roswww` manner.
+
+Note: you should configure your web server to make it follow symlinks.
+
+## Instructions
+
+* Run `main.py` node and it will generate the symlinks and index file.
+* Point your static web server path to `~/.ros/www`.
+
+You can rerun `main.py` if the list of installed packages changes.
+
+## Parameters
+
+* `index` – path for index page, otherwise packages list would be generated.
+* `default_package` – if set then the index page would redirect to this package's page.

roswww_static/launch/example.launch

@@ -0,0 +1,6 @@
+<launch>
+    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true" output="screen">
+        <!-- <param name="index" value="$(find my_package)/www/index.html"/> -->
+        <!-- <param name="default_package" value="my_package"/> -->
+    </node>
+</launch>

roswww_static/main.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+
+# TODO: add custom header, footer
+# TODO: symlinks or copy param
+
+import os
+import shutil
+import rospy
+import rospkg
+
+rospy.init_node('roswww_static')
+
+rospack = rospkg.RosPack()
+
+www = rospkg.get_ros_home() + '/www'
+index_file = rospy.get_param('~index_file', None)
+default_package = rospy.get_param('~default_package', None)
+
+shutil.rmtree(www, ignore_errors=True)  # reset www directory content
+os.mkdir(www)
+
+packages = rospack.list()
+
+index = '<h1>Packages list</h1>\n<ul>\n'
+
+for name in packages:
+    path = rospack.get_path(name)
+    if os.path.exists(path + '/www'):
+        rospy.loginfo('found www path for %s package', name)
+        os.symlink(path + '/www', www + '/' + name)
+        index += '<li><a href="{name}/">{name}</a></li>'.format(name=name)
+
+if default_package is not None:
+    redirect_html = '<meta http-equiv=refresh content="0; url={name}/">'.format(name=default_package)
+    open(www + '/index.html', 'w').write(redirect_html)
+elif index_file is not None:
+    rospy.loginfo('symlinking index file')
+    os.symlink(index_file, www + '/index.html')
+else:
+    open(www + '/index.html', 'w').write(index)

roswww_static/package.xml

@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>roswww_static</name>
+  <version>0.0.0</version>
+  <description>Static web pages for ROS packages</description>
+  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
+  <license>MIT</license>
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/roswww_static</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>