From b250ab04ec037097c171738a8c26b82e94228bbf Mon Sep 17 00:00:00 2001
From: Matt DiCicco <matt@aescape.co>
Date: Wed, 3 Jul 2019 15:46:53 -0400
Subject: [PATCH] fixes

---
 .../components/coordinator/js/ros_scripts.js  | 25 ++++++++++++-------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/client/app/components/coordinator/js/ros_scripts.js b/client/app/components/coordinator/js/ros_scripts.js
index 3fca2b8..837420f 100644
--- a/client/app/components/coordinator/js/ros_scripts.js
+++ b/client/app/components/coordinator/js/ros_scripts.js
@@ -62,8 +62,8 @@ class ArmControls
 
     this.frankaForceObservedTopic = new ROSLIB.Topic({
       ros : ros,
-      name : '/'+this.namespace+'/monitor/base_wrench', 
-      messageType : 'geometry_msgs/WrenchStamped',
+      name : '/'+this.namespace+'/monitor/robot_goal', 
+      messageType : 'aescape_control/RobotGoal',
       throttle_rate : 500 // 2Hz
     });
 
@@ -71,8 +71,8 @@ class ArmControls
 
     this.frankaForceCommandedTopic = new ROSLIB.Topic({
       ros : ros,
-      name : '/'+this.namespace+'/goal_wrench', 
-      messageType : 'geometry_msgs/WrenchStamped',
+      name : '/'+this.namespace+'/robot_goal', 
+      messageType : 'aescape_control/RobotGoal',
       throttle_rate : 500 // 2Hz
     });
 
@@ -212,6 +212,12 @@ class ArmControls
     if (forceTypeCode == 'commanded') {
       var forceType = "Commanded";
     }
+
+    if(this.namespace == 'right' && forceTypeCode == 'commanded') {
+      console.log("frankaForce");
+      console.log(message)
+    }
+
     var force = message.wrench.force
     document.getElementById("frankaForce" + bindedArm + forceType + "X").innerHTML = force.x.toFixed(1)
     document.getElementById("frankaForce" + bindedArm + forceType + "Y").innerHTML = force.y.toFixed(1)
@@ -239,7 +245,7 @@ var lastActiveButton = {
 // Robotiq Data
 var robotiqDataTopic = new ROSLIB.Topic({
   ros : ros,
-  name : '/left/robotiq_ft_wrench',
+  name : '/left/monitor/eef_wrench',
   messageType : 'geometry_msgs/WrenchStamped',
   throttle_rate : 500 // 2Hz
 });
@@ -362,11 +368,12 @@ var playbackStatus = new ROSLIB.Topic({
 });
 
 playbackStatus.subscribe(function(message) {
-  message = JSON.parse(message);
+  console.log("playbackStatus");
+  console.log(message);
+  message = JSON.parse(message.data);
   status = message.status;
   bagName = message.bag_file;
-  console.log("playbackStatus");
-  console.log(playbackStatus);
+
   if (status === "playing") {
 
   } else if (message === "stopped")
@@ -513,7 +520,7 @@ function triggerService(serviceName, toSend, callback) {
     if(serviceCallReturned) {
       clearInterval(responseCheckInterval);
       return;
-    } else if (timeElapsedSinceServiceCall > 3000){
+    } else if (timeElapsedSinceServiceCall > 7000){
         $(document).ready(function(){
           $.notify({
             message: "Timeout on " + serviceName