front-end for single arm mode

client/app/components/coordinator/coordinator.html

@@ -400,8 +400,8 @@
                                         <div class="col-md-10">
                                             <div class="dropdown">
                                                 <div>
-                                                        <select id="loadBagList" placeholder="Select bag to play">
-                                                        </select>
+                                                        <select id="loadBagList" placeholder="Select bag to play"></select>
+                                                        <select id="armMode"></select>
                                                 </div>
                                                 <!-- <i class="fas fa-sync-alt" onclick="updateRecordingsList()"></i> -->
                                             </div>

client/app/components/coordinator/js/ros_scripts.js

@@ -433,10 +433,17 @@ function triggerService(serviceName, toSend)
 }
 
 function loadSelectedBagFile() {
-  var selectedBagName = $('#bagList').val();
+  var selectedBagName = $('#loadBagList').val();
+  var singleArmMode = $('#armMode').val();
+  if (singleArmMode) {
+    singleArmMode = true
+  } else {
+    singleArmMode = false
+  }
 
   var toSend = {
-    message : selectedBagName
+    bag_name : selectedBagName, 
+    single_arm : singleArmMode
   }
 
   triggerService('/aescape/bags/startPlayingRecording', toSend)

client/app/components/coordinator/js/update_guis.js

@@ -222,7 +222,21 @@ function displayLoadingOptions() {
       if(results[0]) {
         selectize.setValue(results[0].filename);
       }
-    }) 
+    })
+    
+    var $armModeSelect = $('#armMode').selectize({
+      valueField: 'value',
+      labelField: 'name',
+      searchField: ['name'], 
+      options: [], 
+      create: false,
+      placeholder : "Select dual or single arm mode"
+    });  
+  
+    var armSelectize = $armModeSelect[0].selectize;
+    armSelectize.clearOptions()
+    armSelectize.addOption([{name: 'Dual-arm', value: false}, {name: 'Single-arm', value: true}]);
+    armSelectize.setValue(false);
 }
 
 function hideLoadingOptions() {