Initial webpage and backend

toid_bt/launch/bt.launch.py

@@ -33,9 +33,24 @@ def generate_launch_description():
         parameters=[bt_params],
     )
 
+    rosbridge_ws = Node(
+        package='rosbridge_server',
+        executable='rosbridge_websocket',
+        output='screen',
+        arguments=["--port", "3000"],
+    )
+
+    tf2_web_publisher = Node(
+        package='tf2_web_republisher',
+        executable='tf2_web_republisher_node',
+        output='screen'
+    )
+
     return LaunchDescription([
         visualize_arg,
         use_mock_arg,
         bt_executor,
+        rosbridge_ws,
+        tf2_web_publisher,
     ])
 

toid_bt/package.xml

@@ -21,6 +21,9 @@
   <depend>toid_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
+  <depend>rosbridge_suite</depend>
+  <depend>tf2_web_republisher</depend>
+  <depend>tf2_web_republisher_interfaces</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>