demo ready.

client/app/components/coordinator/coordinator.html

@@ -302,7 +302,7 @@
                         </div>                        
                     </div>
                     -->
-                    <div class="control-container col-md-10 col-md-offset-2">
+                    <div class="control-container teaching-mode-operations col-md-10">
                         <div class="control-card panel panel-default">
                             <div class="panel-heading">
                                 Teaching Mode Operations
@@ -341,7 +341,7 @@
                             </div>
                         </div>                        
                     </div>
-                        <div class="control-container col-md-10">
+                        <div class="control-container play-mode-operations col-md-10">
                             <div class="control-card panel panel-default execution-control">
                                 <div class="panel-heading">
                                     Play Mode Operations

client/app/components/coordinator/js/ros_scripts.js

@@ -62,8 +62,8 @@ class ArmControls
 
     this.frankaForceObservedTopic = new ROSLIB.Topic({
       ros : ros,
-      name : '/'+this.namespace+'/monitor/robot_goal', 
+      name : '/'+this.namespace+'/franka_state_controller/F_ext_base', 
-      messageType : 'aescape_control/RobotGoal',
+      messageType : 'geometry_msgs/WrenchStamped',
       throttle_rate : 500 // 2Hz
     });
 
@@ -208,17 +208,19 @@ class ArmControls
     }
     if (forceTypeCode == 'observed') {
       var forceType = "Observed";
+      console.log(message)
     }
     if (forceTypeCode == 'commanded') {
       var forceType = "Commanded";
     }
 
-    if(this.namespace == 'right' && forceTypeCode == 'commanded') {
+    // if(this.namespace == 'right' && forceTypeCode == 'commanded') {
-      console.log("frankaForce");
+    //   console.log("frankaForce");
-      console.log(message)
+    //   console.log(message)
-    }
+    // }
 
     var force = message.wrench.force
+    
     document.getElementById("frankaForce" + bindedArm + forceType + "X").innerHTML = force.x.toFixed(1)
     document.getElementById("frankaForce" + bindedArm + forceType + "Y").innerHTML = force.y.toFixed(1)
     document.getElementById("frankaForce" + bindedArm + forceType + "Z").innerHTML = force.z.toFixed(1)
@@ -361,6 +363,8 @@ executingBagTopic.subscribe(function(message) {
 
 
 // Playback status
+var lastPlaybackStatus;
+var lastStatusBag;
 var playbackStatus = new ROSLIB.Topic({
   ros : ros,
   name : '/left/playback/status',
@@ -368,19 +372,25 @@ var playbackStatus = new ROSLIB.Topic({
 });
 
 playbackStatus.subscribe(function(message) {
-  console.log("playbackStatus");
-  console.log(message);
   message = JSON.parse(message.data);
   status = message.status;
   bagName = message.bag_file;
+  console.log("status");
+  console.log(status);
+  if (status != lastPlaybackStatus) {
     
-  if (status === "playing") {
+    if (status === "playing") {
 
-  } else if (message === "stopped")
+    } else if (status === "stopped") {
-  {
+      triggerService('/left/aescape/mode/activateReadyController');
-    triggerService('/left/aescape/mode/activateReadyController');
+      triggerService('/right/aescape/mode/activateReadyController');
-    triggerService('/right/aescape/mode/activateReadyController');
+      displayTaggingOptions('play');
-    displayTaggingOptions('play');
+    } else if (status === "loaded" && lastPlaybackStatus !== "playing") {
+      console.log("lastPlaybackStatus");
+      console.log(lastPlaybackStatus);
+      displayMessage(true, "Loaded the selected bag file!")
+    }
+    lastPlaybackStatus = status;
   }
 });
 
@@ -442,9 +452,6 @@ function triggerService(serviceName, toSend, callback) {
     var request = new ROSLIB.ServiceRequest({message : toSend});  
   }
 
-  var hellobiatch = "hellobiatch"
-
-
   /*
   var service = new ROSLIB.Service({
     ros : ros,
@@ -520,7 +527,7 @@ function triggerService(serviceName, toSend, callback) {
     if(serviceCallReturned) {
       clearInterval(responseCheckInterval);
       return;
-    } else if (timeElapsedSinceServiceCall > 7000){
+    } else if (timeElapsedSinceServiceCall > 3000){
         $(document).ready(function(){
           $.notify({
             message: "Timeout on " + serviceName
@@ -609,6 +616,16 @@ function playLoadedRecording() {
       function(callback) {
         triggerService('/left/aescape/mode/activateExecutionController', false, callback); 
       },
+      function(response, callback) {
+        var singleArmMode = $('#armMode').val();
+        if (singleArmMode == "1") {
+          singleArmMode = true;
+          callback(null, null);
+        } else {
+          singleArmMode = false;
+          triggerService('/right/aescape/mode/activateExecutionController', false, callback);
+        }
+      }, 
       function(response, callback) {
         triggerTopic('/left/run_trajectory', false, callback)
       }
@@ -622,9 +639,12 @@ function stopPlayingRecording() {
       function(callback) {
           triggerService('/aescape/bags/stopPlayingBag', false, callback);
       },
-      // function(response, callback) {
+      function(response, callback) {
-      //     triggerService('/left/aescape/mode/activateReadyController', false, callback);
+          triggerService('/left/aescape/mode/activateReadyController', false, callback);
-      // },
+      },
+      function(response, callback) {
+        triggerService('/right/aescape/mode/activateReadyController', false, callback);
+    },
       function(response, callback) {
         //displayTaggingOptions('play');
         callback();

client/app/components/coordinator/js/update_guis.js

@@ -16,8 +16,6 @@ function getBagList(callback)
   var request = new ROSLIB.ServiceRequest(toSend);
   
   service.callService(request, function(result) {
-    console.log("result from getBagList");
-    console.log(result.message);
     callback(JSON.parse(result.message));
   });
 }
@@ -296,18 +294,12 @@ function hideLoadingOptions(loadBag) {
   console.log(singleArmMode)
   if(loadBag) {
     var selectedBagName = $('#loadBagList').val();
-    var singleArmMode = $('#armMode').val();
-    if (singleArmMode) {
-      singleArmMode = true
-    } else {
-      singleArmMode = false
-    }
     loadSelectedBagFile(selectedBagName, singleArmMode, function(updateError){
-      if(updateError) {
+      // if(updateError) {
-        displayMessage(false, "Something went wrong in the backend while fetching the bag files :(")
+      //   displayMessage(false, "Something went wrong in the backend while fetching the bag files :(")
-      } else {
+      // } else {
-        displayMessage(true, "Loaded the selected bag file!")
+      //   displayMessage(true, "Loaded the selected bag file!")
-      }
+      // }
     })
   } 
   var selector = '#loadBags';
@@ -315,20 +307,38 @@ function hideLoadingOptions(loadBag) {
   document.querySelector(selector).classList.remove('open');
 }
 
+
+
+
 function loadSelectedBagFile(selectedBagName, singleArmMode, callback) {
   var toSend = {
     bag_name : selectedBagName, 
     single_arm : singleArmMode
   }
 
-  triggerService('/aescape/bags/startPlayingRecording', toSend, function(error, result) {
+  // triggerService('/aescape/bags/startPlayingRecording', toSend, function(error, result) {
-    if(!result) {
+  //   if(!result) {
-      return callback("Something went wrong in the backend while updating.");
+  //     return callback("Something went wrong in the backend while updating.");
-    }
+  //   }
-    else {
+  //   else {
-      return callback();
+  //     return callback();
-    }
+  //   }
-  })
+  // })
+
+  var toSendString = JSON.stringify(toSend);
+
+  console.log("toSend string")
+  console.log(toSendString)
+
+  var topic = new ROSLIB.Topic({
+    ros : ros,
+    name : "/left/playback/control",
+    messageType : 'std_msgs/String'
+  });
+
+  var msg = new ROSLIB.Message({data:toSendString});
+
+  topic.publish(msg);
 }