ROS Server Extension

The jupyter-ros package comes with a jupyter server extension to serve static files (such as robot models) from a catkin workspace.

Once the server extension is installed, you can point the URDFModel URL parameter to http://localhost:8888/rospkg/ in order for it to search below that URL for the meshes and other required assets.

The endpoint will use rospkg to find assets in your catkin workspace. For example, the URL http://localhost:8888/rospkg/roscpp/CMakeLists.txt should return the CMakeLists file of the roscpp package. This feature is mainly useful for sending mesh files to the frontend.

Warning

Currently, there is no mechanism in place to filter requests based on file type. That means, all your source files can be accessed through this endpoint.