examples/markers.html

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<script>
  /**
   * Setup all visualization elements when the page is loaded.
   */
  function init() {
    // Connect to ROS.
    var ros = new ROSLIB.Ros({
      url : 'ws://localhost:9090'
    });

    // Create the main viewer.
    var viewer = new ROS3D.Viewer({
      divID : 'markers',
      width : 640,
      height : 480,
      antialias : true
    });

    // Setup a client to listen to TFs.
    var tfClient = new ROSLIB.TFClient({
      ros : ros,
      angularThres : 0.01,
      transThres : 0.01,
      rate : 10.0,
      fixedFrame : '/my_frame'
    });

    // Setup the marker client.
    var markerClient = new ROS3D.MarkerClient({
      ros : ros,
      tfClient : tfClient,
      topic : '/visualization_marker',
      lifetime : 0,
      rootObject : viewer.scene
    });
  }
</script>
</head>

<body onload="init()">
  <h1>Simple Marker Example</h1>
  <p>Run the following commands in the terminal then refresh this page.</p>
  <ol>
    <li><tt>roscore</tt></li>
    <li><tt>rosrun visualization_marker_tutorials basic_shapes</tt></li>
    <li><tt>rosrun tf2_web_republisher tf2_web_republisher</tt></li>
    <li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
  </ol>
  <div id="markers"></div>
</body>
</html>