bob_av_tools.webscreen_node

Render any URL offscreen and stream it to a FIFO pipe and/or ROS topic.

Supports cookie injection (JSON file), JavaScript pre-script injection at DeferredLoad time, non-blocking FIFO auto-reconnect, and ROS Image publishing.

Attributes

HAS_CV_BRIDGE

Classes

`CustomPage`	QWebEnginePage subclass forwarding console output to ROS logger.
`WebScreenNode`	ROS 2 node that renders any URL offscreen and streams frames.

Functions

main([args])

Entry point for the webscreen node.

Module Contents

bob_av_tools.webscreen_node.HAS_CV_BRIDGE = True

class bob_av_tools.webscreen_node.CustomPage(node)

Bases: PySide6.QtWebEngineCore.QWebEnginePage

QWebEnginePage subclass forwarding console output to ROS logger.

node

javaScriptConsoleMessage(level, message, line, source): Forward browser console messages to ROS logger at DEBUG level.

class bob_av_tools.webscreen_node.WebScreenNode

Bases: rclpy.node.Node

ROS 2 node that renders any URL offscreen and streams frames.

Renders a URL or local file using QtWebEngine (Chromium) in offscreen mode. Frames are captured at the configured FPS, published as ROS Image, and/or written to a named FIFO pipe (ffplay, bob_sdlviz, FFmpeg). Supports cookie injection and JS pre-script injection for automation.

width

height

fps

url

fifo_path

queue_length

cookies_file

pre_script

scroll_x

scroll_y

publisher

fifo_fd = None

qt_app

profile

cookie_store

page

view

timer

_inject_cookies(path): Load cookies from a JSON file and inject them into the browser.

_inject_pre_script(path): Register a JS file to be injected at DeferredLoad into each page.

_on_load_finished(success): Log the result of a page load attempt.

_try_reconnect_fifo(): Try to open the FIFO non-blockingly and then switch to blocking.

capture_frame(): Capture the current render, publish to ROS, and write to FIFO.

run(): Run the Qt + ROS event loop and return the exit code.

bob_av_tools.webscreen_node.main(args=None): Entry point for the webscreen node.