Added left and right arm controls
Temp Working Updates Playback working Fix
This commit is contained in:
David Walsh
@@ -16,69 +16,169 @@
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// Subscribers
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////////////////////////////////////////////////////////////////
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// Operation Mode
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var modeStatus = new ROSLIB.Topic({
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class ArmControls
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{
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constructor(namespace) {
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this.namespace = namespace;
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// Franka Status
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this.frankaStatusTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/'+this.namespace+'/franka_state_controller/franka_states',
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messageType : 'franka_msgs/FrankaState',
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throttle_rate : 500 // 2Hz
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});
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this.frankaStatusTopic.subscribe(this.frankaStatus.bind(this));
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// Mode Status
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this.modeStatusTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/'+this.namespace+'/aescape/mode/status',
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messageType : 'std_msgs/String',
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throttle_rate : 500 // 2Hz
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});
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this.modeStatusTopic.subscribe(this.modeStatus.bind(this));
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// Safety Status
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this.safetyStatusTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/'+this.namespace+'/aescape/mode/safety_status',
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messageType : 'std_msgs/String',
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throttle_rate : 500 // 2Hz
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});
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this.safetyStatusTopic.subscribe(this.safetyStatus.bind(this));
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}
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// FrankaState
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frankaStatus(message) {
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document.getElementById(this.namespace+"_frankaModeOther").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeIdle").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeMove").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeGuiding").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeReflex").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeUserStopped").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeErrorRecovery").className = "label label-default"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-primary"
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if (message.robot_mode == 0)
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{
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document.getElementById(this.namespace+"_frankaModeOther").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
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}
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else if (message.robot_mode == 1)
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{
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document.getElementById(this.namespace+"_frankaModeIdle").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
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}
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else if (message.robot_mode == 2)
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{
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document.getElementById(this.namespace+"_frankaModeMove").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-success"
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}
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else if (message.robot_mode == 3)
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{
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document.getElementById(this.namespace+"_frankaModeGuiding").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
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}
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else if (message.robot_mode == 4)
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{
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document.getElementById(this.namespace+"_frankaModeReflex").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
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}
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else if (message.robot_mode == 5)
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{
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document.getElementById(this.namespace+"_frankaModeUserStopped").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
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}
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else if (message.robot_mode == 6)
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{
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document.getElementById(this.namespace+"_frankaModeErrorRecovery").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
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}
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}
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// Operation Mode
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modeStatus(message) {
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document.getElementById(this.namespace+"_stoppedModeButton").className = "btn btn-secondary"
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document.getElementById(this.namespace+"_standbyModeButton").className = "btn btn-primary"
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document.getElementById(this.namespace+"_readyModeButton").className = "btn btn-primary"
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document.getElementById(this.namespace+"_teachingModeButton").className = "btn btn-primary"
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document.getElementById(this.namespace+"_executionModeButton").className = "btn btn-primary"
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if (this.namespace == "left")
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{
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document.getElementById("recordingStartButton").disabled = true
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document.getElementById("executionStartButton").disabled = true
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}
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if (message.data == "stopped")
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{
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document.getElementById(this.namespace+"_stoppedModeButton").className = "btn btn-warning"
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}
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else if (message.data == "standby")
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{
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document.getElementById(this.namespace+"_standbyModeButton").className = "btn btn-primary btn-success"
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}
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else if (message.data == "teach")
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{
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document.getElementById(this.namespace+"_teachingModeButton").className = "btn btn-primary btn-success"
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}
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else if (message.data == "execution")
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{
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document.getElementById(this.namespace+"_executionModeButton").className = "btn btn-primary btn-success"
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}
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else if (message.data == "ready")
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{
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document.getElementById(this.namespace+"_readyModeButton").className = "btn btn-primary btn-success"
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if (this.namespace == "left")
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{
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document.getElementById("recordingStartButton").disabled = false
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document.getElementById("executionStartButton").disabled = false
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}
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}
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}
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safetyStatus(message) {
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document.getElementById(this.namespace+"_safetyRunning").className = 'label label-default';
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document.getElementById(this.namespace+"_safetyStopped").className = 'label label-default';
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if (message.data == "stopped")
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{
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document.getElementById(this.namespace+"_safetyStopped").className = 'label label-danger';
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}
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else if (message.data == "running")
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{
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document.getElementById(this.namespace+"_safetyRunning").className = 'label label-success';
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}
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};
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}
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var leftArmControls = new ArmControls('left');
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var rightArmControls = new ArmControls('right');
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// Robotiq Data
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var robotiqDataTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/aescape/mode/status',
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messageType : 'std_msgs/String',
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name : '/left/robotiq_ft_wrench',
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messageType : 'geometry_msgs/WrenchStamped',
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throttle_rate : 500 // 2Hz
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});
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modeStatus.subscribe(function(message) {
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document.getElementById("stoppedModeButton").className = "btn btn-secondary"
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document.getElementById("standbyModeButton").className = "btn btn-primary"
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document.getElementById("readyModeButton").className = "btn btn-primary"
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document.getElementById("teachingModeButton").className = "btn btn-primary"
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document.getElementById("executionModeButton").className = "btn btn-primary"
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document.getElementById("recordingStartButton").disabled = true
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document.getElementById("executionStartButton").disabled = true
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robotiqDataTopic.subscribe(function(message) {
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var force = message.wrench.force
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document.getElementById("robotiqX").innerHTML = force.x.toFixed(1)
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document.getElementById("robotiqY").innerHTML = force.y.toFixed(1)
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document.getElementById("robotiqZ").innerHTML = force.z.toFixed(1)
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if (message.data == "stopped")
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if ((Math.abs(force.x) > 0.5) || (Math.abs(force.y) > 0.5) || (Math.abs(force.z) > 0.5))
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{
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document.getElementById("stoppedModeButton").className = "btn btn-warning"
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}
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else if (message.data == "standby")
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{
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document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
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}
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else if (message.data == "teach")
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{
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document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
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}
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else if (message.data == "execution")
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{
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document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
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}
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else if (message.data == "ready")
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{
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document.getElementById("readyModeButton").className = "btn btn-primary btn-success"
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document.getElementById("recordingStartButton").disabled = false
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document.getElementById("executionStartButton").disabled = false
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}
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});
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// Safety Status
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var safetyStatusTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/aescape/mode/safety_status',
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messageType : 'std_msgs/String',
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throttle_rate : 500 // 2Hz
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});
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safetyStatusTopic.subscribe(function(message) {
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document.getElementById("safetyRunning").className = 'label label-default';
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document.getElementById("safetyStopped").className = 'label label-default';
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if (message.data == "stopped")
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{
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document.getElementById("safetyStopped").className = 'label label-danger';
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}
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else if (message.data == "running")
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{
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document.getElementById("safetyRunning").className = 'label label-success';
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document.getElementById("calibrateButton").className = "btn btn-danger"
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} else {
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document.getElementById("calibrateButton").className = "btn btn-default"
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}
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});
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@@ -135,85 +235,6 @@ bagPlayingTopic.subscribe(function(message) {
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document.getElementById("lastbagText").innerHTML = message.data
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});
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// FrankaState
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var frankaStatus = new ROSLIB.Topic({
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ros : ros,
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name : '/franka_state_controller/franka_states',
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messageType : 'franka_msgs/FrankaState',
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throttle_rate : 500 // 2Hz
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});
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frankaStatus.subscribe(function(message) {
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document.getElementById("frankaModeOther").className = "label label-default"
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document.getElementById("frankaModeIdle").className = "label label-default"
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document.getElementById("frankaModeMove").className = "label label-default"
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document.getElementById("frankaModeGuiding").className = "label label-default"
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document.getElementById("frankaModeReflex").className = "label label-default"
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document.getElementById("frankaModeUserStopped").className = "label label-default"
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document.getElementById("frankaModeErrorRecovery").className = "label label-default"
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document.getElementById("fixFrankaButton").className = "btn btn-primary"
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if (message.robot_mode == 0)
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{
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document.getElementById("frankaModeOther").className = "label label-warning"
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document.getElementById("fixFrankaButton").className = "btn btn-danger"
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}
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else if (message.robot_mode == 1)
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{
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document.getElementById("frankaModeIdle").className = "label label-warning"
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document.getElementById("fixFrankaButton").className = "btn btn-danger"
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}
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else if (message.robot_mode == 2)
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{
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document.getElementById("frankaModeMove").className = "label label-warning"
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document.getElementById("fixFrankaButton").className = "btn btn-success"
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}
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else if (message.robot_mode == 3)
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{
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document.getElementById("frankaModeGuiding").className = "label label-warning"
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document.getElementById("fixFrankaButton").className = "btn btn-default"
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}
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else if (message.robot_mode == 4)
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{
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document.getElementById("frankaModeReflex").className = "label label-warning"
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document.getElementById("fixFrankaButton").className = "btn btn-danger"
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}
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else if (message.robot_mode == 5)
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{
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document.getElementById("frankaModeUserStopped").className = "label label-warning"
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document.getElementById("fixFrankaButton").className = "btn btn-default"
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}
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else if (message.robot_mode == 6)
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{
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document.getElementById("frankaModeErrorRecovery").className = "label label-warning"
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document.getElementById("fixFrankaButton").className = "btn btn-default"
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}
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});
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// Robotiq Data
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var robotiqDataTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/robotiq_ft_wrench',
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messageType : 'geometry_msgs/WrenchStamped',
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throttle_rate : 500 // 2Hz
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});
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robotiqDataTopic.subscribe(function(message) {
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var force = message.wrench.force
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document.getElementById("robotiqX").innerHTML = force.x.toFixed(1)
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document.getElementById("robotiqY").innerHTML = force.y.toFixed(1)
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document.getElementById("robotiqZ").innerHTML = force.z.toFixed(1)
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if ((Math.abs(force.x) > 0.5) || (Math.abs(force.y) > 0.5) || (Math.abs(force.z) > 0.5))
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{
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document.getElementById("calibrateButton").className = "btn btn-danger"
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} else {
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document.getElementById("calibrateButton").className = "btn btn-default"
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}
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});
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////////////////////////////////////////////////////////////////
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// Services
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////////////////////////////////////////////////////////////////
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