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Added robot state indicators

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This commit is contained in:
David Walsh
2019-03-28 12:04:54 -04:00
parent e85717fa9f
commit 5f2b9f8d18
2 changed files with 92 additions and 5 deletions
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61
coordinator/js/ros_scripts.js
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@@ -30,15 +30,15 @@ modeStatus.subscribe(function(message) {
document.getElementById("executionModeButton").className = "btn btn-primary"
if (message.data === "stopped") {
if (message.data == "stopped") {
document.getElementById("stoppedModeButton").className = "btn btn-warning"
} else if (message.data === "standby")
} else if (message.data == "standby")
{
document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
} else if (message.data === "teach")
} else if (message.data == "teach")
{
document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
} else if (message.data === "execution")
} else if (message.data == "execution")
{
document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
}
@@ -55,7 +55,60 @@ bagPlayingTopic.subscribe(function(message) {
document.getElementById("bagPlayingText").innerHTML = message.data
});
// FrankaState
var frankaStatus = new ROSLIB.Topic({
ros : ros,
name : '/franka_state_controller/franka_states',
messageType : 'franka_msgs/FrankaState'
});
frankaStatus.subscribe(function(message) {
document.getElementById("frankaModeOther").className = "label label-default"
document.getElementById("frankaModeIdle").className = "label label-default"
document.getElementById("frankaModeMove").className = "label label-default"
document.getElementById("frankaModeGuiding").className = "label label-default"
document.getElementById("frankaModeReflex").className = "label label-default"
document.getElementById("frankaModeUserStopped").className = "label label-default"
document.getElementById("frankaModeErrorRecovery").className = "label label-default"
document.getElementById("fixFrankaButton").className = "btn btn-primary"
if (message.robot_mode == 0)
{
document.getElementById("frankaModeOther").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-danger"
}
else if (message.robot_mode == 1)
{
document.getElementById("frankaModeIdle").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-danger"
}
else if (message.robot_mode == 2)
{
document.getElementById("frankaModeMove").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-success"
}
else if (message.robot_mode == 3)
{
document.getElementById("frankaModeGuiding").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-default"
}
else if (message.robot_mode == 4)
{
document.getElementById("frankaModeReflex").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-danger"
}
else if (message.robot_mode == 5)
{
document.getElementById("frankaModeUserStopped").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-default"
}
else if (message.robot_mode == 6)
{
document.getElementById("frankaModeErrorRecovery").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-default"
}
});
////////////////////////////////////////////////////////////////
// Services