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David Walsh
251
lab_ui/client/app/utilities/ros_scripts.js
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251
lab_ui/client/app/utilities/ros_scripts.js
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var ros = new ROSLIB.Ros();
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ros.topics = Array();
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ros.nodes = Array();
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ros.recording = false;
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ros.connected = false;
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// ros.connectionName = 'ws://192.168.1.105:9090';
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function getQueryVariable(variable)
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{
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var query = window.location.search.substring(1);
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var vars = query.split("&");
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for (var i=0;i<vars.length;i++) {
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var pair = vars[i].split("=");
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if(pair[0] == variable){
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return pair[1];
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}
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}
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}
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var master = "localhost"
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master = getQueryVariable("master")
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if(master == null)
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{
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master = window.location.hostname
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//"localhost"
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}
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console.log('Master = ' + master);
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ros.connectionName = 'ws://' + master + ':9090';
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// ros.connectionName = 'ws://localhost:9090';
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// ros.connectionName = 'ws://titan.aescape.co:9090';
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console.log('ros.connectionName = ' + ros.connectionName);
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function enableUI() {
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try {
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var buttons = document.getElementById("coordinator").getElementsByTagName("button");
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for(var i = 0; i < buttons.length; i++)
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{
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buttons.item(i).classList.remove("disabled");
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}
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var checkBoxes = document.getElementById("coordinator").querySelectorAll(".pretty .state");
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for(var i = 0; i < checkBoxes.length; i++)
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{
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checkBoxes.item(i).classList.add("p-success-o");
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}
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document.querySelector('.dropdown').classList.remove("disabled");
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} catch(err) {
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console.log(err);
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}
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}
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function disableUI() {
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try {
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var buttons = document.getElementById("coordinator").getElementsByTagName("button");
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for(var i = 0; i < buttons.length; i++)
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{
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buttons.item(i).classList.add("disabled");
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}
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var checkBoxes = document.getElementById("coordinator").querySelectorAll(".pretty .state");
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for(var i = 0; i < checkBoxes.length; i++)
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{
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checkBoxes.item(i).classList.remove("p-success-o");
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}
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document.querySelector('.dropdown').classList.add("disabled");
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} catch(err) {
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console.log(err);
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}
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}
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setTimeout(function(){
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disableUI();
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})
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// If there is an error on the backend, an 'error' emit will be emitted.
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ros.on('error', function(error) {
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/*
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document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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document.getElementById("ConnectionIPLabel").innerHTML = 'No connection';
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document.getElementById("ConnectionButton").className = "btn btn-warning"
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document.getElementById("rosbridgeconnection_badge").innerHTML = 'No connection';
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document.getElementById("ROSNodes").innerHTML = "No Nodes Detected";
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*/
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/*
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$(document).ready(function(){
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$.notify({
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message: "Something went wrong in the connection: "+ ros.connectionName
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}, {
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"placement" : {
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from: "bottom",
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align: "right"
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},
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type: 'danger',
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delay: 1000
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});
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});
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*/
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document.getElementById("ConnectionButton").innerHTML = "Connect";
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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document.getElementById("task-connection-message").innerHTML = "Disconnected"
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disableUI();
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//rosbridgeconnection_badge
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console.log(error);
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});
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// Find out exactly when we made a connection.
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ros.on('connection', function() {
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ros.connected = true;
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console.log('Connection made!');
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document.getElementById("ConnectionButton").innerHTML = "Disconnect";
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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/*
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document.getElementById("ConnectionIPForm").className = "form-group has-success has-feedback";
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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document.getElementById("ConnectionIPLabel").innerHTML = 'Connection made at:';
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document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connected';
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document.getElementById("ConnectionButton").className = "btn btn-success";
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*/
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$(document).ready(function(){
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$.notify({
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message: "Connected to: "+ ros.connectionName
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}, {
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"placement" : {
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from: "bottom",
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align: "right"
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},
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type: 'success',
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delay: 1000
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});
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});
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enableUI();
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document.getElementById("task-connection-message").innerHTML = "Connected to: " + ros.connectionName;
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getMasterName();
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ros.nodes = Array();
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ros.topics = Array();
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});
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ros.on('close', function() {
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console.log('Connection closed.');
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ros.connected = false;
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/*
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document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
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document.getElementById("ConnectionIPLabel").innerHTML = 'Connection closed';
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document.getElementById("ConnectionButton").className = "btn btn-warning"
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document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connection closed';
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*/
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/*
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$(document).ready(function(){
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$.notify({
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message: "Disconnected from "+ ros.connectionName
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}, {
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"placement" : {
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from: "bottom",
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align: "right"
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},
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type: 'danger',
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delay: 1000
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});
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});
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*/
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document.getElementById("ConnectionButton").innerHTML = "Connect";
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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document.getElementById("task-connection-message").innerHTML = "Disconnected"
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disableUI();
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ros.nodes = Array();
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ros.topics = Array();
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});
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// Create a connection to the rosbridge WebSocket server.
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//ros.connect(ros.connectionName);
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///////////////////////////////////////////////////////////////////////////////////
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// Functions
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///////////////////////////////////////////////////////////////////////////////////
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// attept to connect to the ros master from the IP given orgrab it from the form
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ros.attemptConnection = function(ipAddress)
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{
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ros.close();
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if( typeof ipAddress !== "undefined")
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{
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ros.connectionName = ipAddress;
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}
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else
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{
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ros.connectionName = document.getElementById("ConnectionIPInput").value
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}
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console.log('Connection = ' + ros.connectionName);
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ros.connect(ros.connectionName);
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}
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function toggleRecording()
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{
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if(ros.connected)
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{
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document.getElementById("recordButtonText").innerHTML = "Wait"
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document.getElementById("recordButton").className = "btn btn-warning"
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if (!ros.recording) {
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ros.recording = true
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topicstobag = " "
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for (i = 0; i < ros.topics.length; i ++)
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{
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if (ros.topics[i].bag == true)
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{
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topicstobag = topicstobag.concat(ros.topics[i].name + " ")
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}
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}
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publishBagMessage(document.getElementById("recordText").value + topicstobag)
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} else {
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ros.recording = false
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publishBagMessage("STOP")
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}
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}
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}
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function getMasterName()
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{
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var service = new ROSLIB.Service({
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ros : ros,
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name : '/rosapi/service_host',
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serviceType : 'rosapi/ServiceHost'
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});
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var request = new ROSLIB.ServiceRequest({
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service: '/rosout/get_loggers' // Only the master hosts this service.
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});
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service.callService(request, function(result) {
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document.getElementById("task-connection-message").innerHTML = "Connected to: " + result.host;
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});
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}
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