rclnodejs/demo/electron/turtle_tf2/index.html at develop · RobotWebTools/rclnodejs · GitHub

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<!DOCTYPE html>
<html>

<head>
  <meta charset="UTF-8">
  <meta http-equiv="Content-Security-Policy"
    content="default-src 'self'; script-src 'self' 'unsafe-inline'; style-src 'self' 'unsafe-inline';">
  <title>ROS2 Turtle TF2 Demo</title>
  <style>
    body {
      font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
      margin: 0;
      padding: 0;
      background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
      color: #333;
      overflow: hidden;
    }

    .container {
      display: flex;
      height: 100vh;
    }

    .sidebar {
      width: 350px;
      background: rgba(255, 255, 255, 0.95);
      backdrop-filter: blur(10px);
      padding: 20px;
      overflow-y: auto;
      box-shadow: 2px 0 10px rgba(0, 0, 0, 0.1);
    }

    .main-content {
      flex: 1;
      position: relative;
      display: flex;
      flex-direction: column;
    }

    .header {
      background: rgba(255, 255, 255, 0.1);
      backdrop-filter: blur(10px);
      padding: 15px 20px;
      border-bottom: 1px solid rgba(255, 255, 255, 0.2);
    }

    .header h1 {
      margin: 0;
      color: white;
      font-size: 24px;
      font-weight: 300;
    }

    .header .subtitle {
      color: rgba(255, 255, 255, 0.8);
      font-size: 14px;
      margin-top: 5px;
    }

    #visualization-container {
      flex: 1;
      position: relative;
      background: #000;
    }

    #three-canvas {
      width: 100%;
      height: 100%;
      display: block;
    }

    .controls-section {
      margin-bottom: 25px;
      background: rgba(0, 0, 0, 0.05);
      border-radius: 10px;
      padding: 15px;
    }

    .section-title {
      font-size: 16px;
      font-weight: 600;
      color: #444;
      margin-bottom: 15px;
      display: flex;
      align-items: center;
    }

    .section-title::before {
      content: '';
      width: 4px;
      height: 16px;
      background: linear-gradient(45deg, #667eea, #764ba2);
      margin-right: 10px;
      border-radius: 2px;
    }

    .control-group {
      margin-bottom: 15px;
    }

    .control-label {
      display: block;
      font-size: 12px;
      font-weight: 500;
      color: #666;
      margin-bottom: 5px;
      text-transform: uppercase;
      letter-spacing: 0.5px;
    }

    .control-button {
      background: linear-gradient(45deg, #667eea, #764ba2);
      color: white;
      border: none;
      padding: 8px 16px;
      border-radius: 6px;
      cursor: pointer;
      font-size: 12px;
      font-weight: 500;
      margin-right: 8px;
      margin-bottom: 5px;
      transition: all 0.3s ease;
      box-shadow: 0 2px 5px rgba(0, 0, 0, 0.1);
    }

    .control-button:hover {
      transform: translateY(-1px);
      box-shadow: 0 4px 12px rgba(0, 0, 0, 0.2);
    }

    .control-button:active {
      transform: translateY(0);
    }

    .control-button.emergency {
      background: linear-gradient(45deg, #ff6b6b, #ee5a24);
    }

    .status-panel {
      background: rgba(0, 0, 0, 0.05);
      border-radius: 8px;
      padding: 12px;
      margin-bottom: 10px;
    }

    .status-item {
      display: flex;
      justify-content: space-between;
      margin-bottom: 8px;
      font-size: 12px;
    }

    .status-label {
      color: #666;
      font-weight: 500;
    }

    .status-value {
      color: #333;
      font-family: 'Courier New', monospace;
      font-weight: 600;
    }

    .status-value.active {
      color: #27ae60;
    }

    .transform-list {
      max-height: 200px;
      overflow-y: auto;
      background: rgba(255, 255, 255, 0.5);
      border-radius: 6px;
      padding: 10px;
    }

    .transform-item {
      background: white;
      border-radius: 4px;
      padding: 8px;
      margin-bottom: 5px;
      font-size: 11px;
      box-shadow: 0 1px 3px rgba(0, 0, 0, 0.1);
    }

    .transform-item .frame-name {
      font-weight: 600;
      color: #667eea;
      margin-bottom: 3px;
    }

    .transform-item .coordinates {
      color: #666;
      font-family: 'Courier New', monospace;
    }

    .legend {
      background: rgba(255, 255, 255, 0.5);
      border-radius: 6px;
      padding: 10px;
      margin-top: 10px;
    }

    .legend-item {
      display: flex;
      align-items: center;
      margin-bottom: 5px;
      font-size: 11px;
    }

    .legend-color {
      width: 12px;
      height: 12px;
      border-radius: 2px;
      margin-right: 8px;
    }

    .keyboard-legend {
      background: rgba(255, 255, 255, 0.8);
      border-radius: 8px;
      padding: 12px;
      margin: 8px 0;
    }

    .key-combo {
      display: flex;
      align-items: center;
      margin: 6px 0;
      font-size: 13px;
      color: #555;
    }

    .key {
      background: linear-gradient(135deg, #f5f7fa 0%, #c3cfe2 100%);
      border: 1px solid #bbb;
      border-radius: 4px;
      padding: 4px 8px;
      margin: 0 4px;
      font-family: 'Courier New', monospace;
      font-weight: bold;
      font-size: 12px;
      color: #333;
      box-shadow: 0 2px 4px rgba(0,0,0,0.1);
      min-width: 24px;
      text-align: center;
    }

    .keyboard-note {
      background: rgba(255, 193, 7, 0.1);
      border-left: 3px solid #ffc107;
      padding: 8px 12px;
      margin: 8px 0;
      font-size: 12px;
      color: #856404;
      border-radius: 0 4px 4px 0;
    }

    .instructions {
      background: rgba(255, 255, 255, 0.3);
      border-radius: 8px;
      padding: 12px;
      margin-top: 15px;
      font-size: 11px;
      line-height: 1.4;
      color: #555;
    }

    .instructions h4 {
      margin: 0 0 8px 0;
      color: #333;
      font-size: 12px;
    }

    .instructions ul {
      margin: 0;
      padding-left: 15px;
    }

    .instructions li {
      margin-bottom: 3px;
    }

    /* Loading screen */
    .loading-screen {
      position: absolute;
      top: 0;
      left: 0;
      width: 100%;
      height: 100%;
      background: rgba(0, 0, 0, 0.8);
      display: flex;
      justify-content: center;
      align-items: center;
      color: white;
      font-size: 18px;
      z-index: 1000;
    }

    .loading-screen.hidden {
      display: none;
    }

    .spinner {
      border: 4px solid #f3f3f3;
      border-top: 4px solid #667eea;
      border-radius: 50%;
      width: 40px;
      height: 40px;
      animation: spin 1s linear infinite;
      margin-right: 15px;
    }

    @keyframes spin {
      0% { transform: rotate(0deg); }
      100% { transform: rotate(360deg); }
    }

    /* Responsive design */
    @media (max-width: 1200px) {
      .sidebar {
        width: 300px;
      }
    }

    @media (max-width: 900px) {
      .container {
        flex-direction: column;
      }

      .sidebar {
        width: 100%;
        height: 300px;
      }

      .main-content {
        height: calc(100vh - 300px);
      }
    }
  </style>
</head>

<body>
  <div class="container">
    <!-- Sidebar with controls and status -->
    <div class="sidebar">
      <!-- Status Panel -->
      <div class="controls-section">
        <div class="section-title">📊 System Status</div>
        <div class="status-panel">
          <div class="status-item">
            <span class="status-label">ROS2 Status:</span>
            <span class="status-value" id="ros-status">Initializing...</span>
          </div>
          <div class="status-item">
            <span class="status-label">Turtlesim:</span>
            <span class="status-value" id="turtlesim-status">Waiting...</span>
          </div>
          <div class="status-item">
            <span class="status-label">TF2 Nodes:</span>
            <span class="status-value" id="tf2-nodes-status">0/5</span>
          </div>
          <div class="status-item">
            <span class="status-label">Active Transforms:</span>
            <span class="status-value" id="active-transforms">0</span>
          </div>
        </div>
      </div>

      <!-- Turtle Control -->
      <div class="controls-section">
        <div class="section-title">🐢 Turtle Control</div>
        <div class="control-group">
          <label class="control-label">Turtle1 Movement</label>
          <button class="control-button" id="spawn-turtle1">Spawn Turtle1</button>
          <button class="control-button" id="spawn-turtle2">Spawn Turtle2</button>
          <button class="control-button emergency" id="stop-all">Emergency Stop</button>
        </div>
        <div class="control-group">
          <label class="control-label">Demo Control</label>
          <button class="control-button" id="start-demo">Start Demo</button>
          <button class="control-button" id="reset-demo">Reset Demo</button>
        </div>
      </div>

      <!-- Keyboard Controls -->
      <div class="controls-section">
        <div class="section-title">⌨️ Keyboard Controls</div>
        <div class="control-group">
          <label class="control-label">Move Turtle1</label>
          <div class="keyboard-legend">
            <div class="key-combo">
              <span class="key">W</span> - Forward
            </div>
            <div class="key-combo">
              <span class="key">S</span> - Backward
            </div>
            <div class="key-combo">
              <span class="key">A</span> - Turn Left
            </div>
            <div class="key-combo">
              <span class="key">D</span> - Turn Right
            </div>
          </div>
          <div class="keyboard-note">
            💡 Click on the 3D scene to focus, then use WASD keys to control turtle1.<br>
            🎥 Use arrow keys or mouse to navigate the 3D camera view.
          </div>
        </div>
      </div>

      <!-- Transform Broadcasters -->
      <div class="controls-section">
        <div class="section-title">📡 TF2 Broadcasters</div>
        <div class="control-group">
          <label class="control-label">Frame Broadcasters</label>
          <button class="control-button" id="toggle-static">Static Frame</button>
          <button class="control-button" id="toggle-dynamic">Dynamic Frame</button>
          <button class="control-button" id="toggle-fixed">Fixed Frame</button>
        </div>
      </div>

      <!-- Active Transforms -->
      <div class="controls-section">
        <div class="section-title">🔄 Active Transforms</div>
        <div class="transform-list" id="transform-list">
          <div class="transform-item">
            <div class="frame-name">No transforms detected</div>
            <div class="coordinates">Waiting for TF2 data...</div>
          </div>
        </div>
      </div>

      <!-- Legend -->
      <div class="controls-section">
        <div class="section-title">🎨 Visualization Legend</div>
        <div class="legend">
          <div class="legend-item">
            <div class="legend-color" style="background: #00ff00;"></div>
            <span>Turtle1 (Green)</span>
          </div>
          <div class="legend-item">
            <div class="legend-color" style="background: #0088ff;"></div>
            <span>Turtle2 (Blue)</span>
          </div>
          <div class="legend-item">
            <div class="legend-color" style="background: #ff4444;"></div>
            <span>Static Frame (Red)</span>
          </div>
          <div class="legend-item">
            <div class="legend-color" style="background: #ffaa00;"></div>
            <span>Dynamic Frame (Orange)</span>
          </div>
          <div class="legend-item">
            <div class="legend-color" style="background: #aa44ff;"></div>
            <span>Fixed Frame (Purple)</span>
          </div>
          <div class="legend-item">
            <div class="legend-color" style="background: #ffffff;"></div>
            <span>Coordinate Axes</span>
          </div>
        </div>
      </div>

      <!-- Instructions -->
      <div class="instructions">
        <h4>📋 Instructions</h4>
        <ul>
          <li><strong>Start Demo:</strong> Click "Start Demo" to begin</li>
          <li><strong>Turtle Control:</strong> Use turtlesim_node to control turtle1</li>
          <li><strong>TF2 Frames:</strong> Toggle different frame broadcasters</li>
          <li><strong>3D View:</strong> Drag to rotate, scroll to zoom</li>
          <li><strong>Reset:</strong> Click "Reset Demo" to restart</li>
        </ul>
      </div>
    </div>

    <!-- Main visualization area -->
    <div class="main-content">
      <div class="header">
        <h1>🐢 Turtle TF2 Transformation Demo</h1>
        <div class="subtitle">Real-time 3D visualization of ROS2 TF2 transforms using rclnodejs</div>
      </div>

      <div id="visualization-container">
        <canvas id="three-canvas"></canvas>

        <!-- Loading screen -->
        <div class="loading-screen" id="loading-screen">
          <div class="spinner"></div>
          <div>Initializing ROS2 TF2 Demo...</div>
        </div>
      </div>
    </div>
  </div>

  <!-- Include Three.js -->
  <script src="./node_modules/three/build/three.min.js"></script>
  <script src="./orbit-controls.js"></script>

  <!-- Main renderer script -->
  <script src="./renderer.js"></script>
</body>

</html>