From 5a822a592795a850540fb605be23cf98b2c16da1 Mon Sep 17 00:00:00 2001
From: David Walsh <david@aescape.co>
Date: Tue, 16 Apr 2019 19:30:41 -0400
Subject: [PATCH] Added Rhea lab_ui config.

---
 backend/js/ros_scripts.js | 2 ++
 index.html                | 8 +++++++-
 launch/lab_ui_rhea.launch | 9 +++++++++
 3 files changed, 18 insertions(+), 1 deletion(-)
 create mode 100755 launch/lab_ui_rhea.launch

diff --git a/backend/js/ros_scripts.js b/backend/js/ros_scripts.js
index c41ec39..4132230 100644
--- a/backend/js/ros_scripts.js
+++ b/backend/js/ros_scripts.js
@@ -119,6 +119,7 @@ bagNotifier.subscribe(function(message) {
 // attept to connect to the ros master from the IP given orgrab it from the form
 ros.attemptConnection = function(ipAddress)
 {
+  ros.close();
   if( typeof ipAddress !== "undefined")
   {
     ros.connectionName = ipAddress;
@@ -129,6 +130,7 @@ ros.attemptConnection = function(ipAddress)
   }
   console.log('Connection = ' + ros.connectionName);
   ros.connect(ros.connectionName);
+  getMasterName();
 }
 
 function toggleRecording()
diff --git a/index.html b/index.html
index d38d517..59b5f8b 100644
--- a/index.html
+++ b/index.html
@@ -162,7 +162,13 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                                     </script>
                                 </button> -->
                                 <button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.aescape.co:9090')" class="btn btn-primary">
-                                    titan.aescape.co
+                                    Phoebe
+                                    <script type="text/javascript">
+                                        document.getElementById("ConnectionIPInput").value = ros.connectionName;
+                                    </script>
+                                </button>
+                                <button id="RheaButton" type="button" onclick="ros.attemptConnection('ws://titan.aescape.co:9091')" class="btn btn-primary">
+                                    Rhea
                                     <script type="text/javascript">
                                         document.getElementById("ConnectionIPInput").value = ros.connectionName;
                                     </script>
diff --git a/launch/lab_ui_rhea.launch b/launch/lab_ui_rhea.launch
new file mode 100755
index 0000000..4557a33
--- /dev/null
+++ b/launch/lab_ui_rhea.launch
@@ -0,0 +1,9 @@
+<launch>
+	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" >
+        <arg name="port" value="9091" />
+    </include>
+
+    <!-- <node name="lab_ui_video_server" pkg="web_video_server" type="web_video_server" respawn="true" >
+        <param name="address" value="titan.aescape.co" />
+    </node> -->
+</launch>