Gzweb

Gzweb is a library that allows web clients to render models and worlds, as well as visualize and communicate with a running Gazebo simulation using the Websocket launcher plugin.

Usage

Gzweb is available on NPM. Web clients can install it using:

npm install gzweb

Then, you can see The AssetViewer class if you want to render static models or worlds, or the SceneManager class if you want to render a running Gazebo simulation.

Development

Setup

You need the following:

• Node version 18.
• NPM version 8.

You can use NVM to switch between versions easily. With it, you can then do:

nvm install 18
nvm use 18
node -v && npm -v # Your versions will be correct.

After this, install dependencies with:

npm install

Test

Run the tests using

npm run test

Build

Once you have your dependencies installed, you can run:

npm run build

Local development

If you are working on changes on gzweb and want to try them in an application, then you can setup a link using these steps.

1. In the root of the gzweb sources run

   npm link
   

2. This should create a symlink to the gzweb folder in the global node path, which can be found using npm root -g.

3. Connect the downstream application to the gzweb symlink using

   npm link gzweb
   

4. In the downstream application's node_modules directory you should see a corresponding symlink to gzweb.

5. All you have to do now is run npm run build.