To use this joint state control module, we need to clone the following package into the ROS catkin workspace. Here is the command:

    $ git clone https://github.com/DLu/joint_state_publisher_js

You can use catkin_make after executing the preceding command.

You can see the JavaScript module from the joint_state_publisher_js/build folder. You can copy this module and use it for your own applications.

You will get HTML code for the joint state publisher from chapter_12_codes/ros_web_ws/joint_state_publisher.html. The code is very similar to our first project, but you can see some new APIs inside this code. Let's look at the new code snippets that you can see in this code.