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Robotiq data subscription

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This commit is contained in:
David Walsh
2019-03-28 13:30:56 -04:00
parent c182274d58
commit 71cc38813c
2 changed files with 40 additions and 4 deletions
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22
coordinator/js/ros_scripts.js
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@@ -110,6 +110,28 @@ frankaStatus.subscribe(function(message) {
}
});
// Robotiq Data
var robotiqDataTopic = new ROSLIB.Topic({
ros : ros,
name : '/robotiq_ft_wrench',
messageType : 'geometry_msgs/WrenchStamped'
});
robotiqDataTopic.subscribe(function(message) {
var force = message.wrench.force
document.getElementById("robotiqX").innerHTML = force.x.toFixed(1)
document.getElementById("robotiqY").innerHTML = force.y.toFixed(1)
document.getElementById("robotiqZ").innerHTML = force.z.toFixed(1)
if ((Math.abs(force.x) > 0.5) || (Math.abs(force.y) > 0.5) || (Math.abs(force.z) > 0.5))
{
document.getElementById("calibrateButton").className = "btn btn-danger"
} else {
document.getElementById("calibrateButton").className = "btn btn-default"
}
});
////////////////////////////////////////////////////////////////
// Services
////////////////////////////////////////////////////////////////