senaduka/old-lab_ui
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fixes

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This commit is contained in:
Matt DiCicco
2019-07-03 15:46:53 -04:00
parent 8c0202b0c8
commit b250ab04ec
1 changed files with 16 additions and 9 deletions
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25
client/app/components/coordinator/js/ros_scripts.js
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@@ -62,8 +62,8 @@ class ArmControls
this.frankaForceObservedTopic = new ROSLIB.Topic({ this.frankaForceObservedTopic = new ROSLIB.Topic({
ros : ros, ros : ros,
name : '/'+this.namespace+'/monitor/base_wrench', name : '/'+this.namespace+'/monitor/robot_goal',
messageType : 'geometry_msgs/WrenchStamped', messageType : 'aescape_control/RobotGoal',
throttle_rate : 500 // 2Hz throttle_rate : 500 // 2Hz
}); });
@@ -71,8 +71,8 @@ class ArmControls
this.frankaForceCommandedTopic = new ROSLIB.Topic({ this.frankaForceCommandedTopic = new ROSLIB.Topic({
ros : ros, ros : ros,
name : '/'+this.namespace+'/goal_wrench', name : '/'+this.namespace+'/robot_goal',
messageType : 'geometry_msgs/WrenchStamped', messageType : 'aescape_control/RobotGoal',
throttle_rate : 500 // 2Hz throttle_rate : 500 // 2Hz
}); });
@@ -212,6 +212,12 @@ class ArmControls
if (forceTypeCode == 'commanded') { if (forceTypeCode == 'commanded') {
var forceType = "Commanded"; var forceType = "Commanded";
} }
if(this.namespace == 'right' && forceTypeCode == 'commanded') {
console.log("frankaForce");
console.log(message)
}
var force = message.wrench.force var force = message.wrench.force
document.getElementById("frankaForce" + bindedArm + forceType + "X").innerHTML = force.x.toFixed(1) document.getElementById("frankaForce" + bindedArm + forceType + "X").innerHTML = force.x.toFixed(1)
document.getElementById("frankaForce" + bindedArm + forceType + "Y").innerHTML = force.y.toFixed(1) document.getElementById("frankaForce" + bindedArm + forceType + "Y").innerHTML = force.y.toFixed(1)
@@ -239,7 +245,7 @@ var lastActiveButton = {
// Robotiq Data // Robotiq Data
var robotiqDataTopic = new ROSLIB.Topic({ var robotiqDataTopic = new ROSLIB.Topic({
ros : ros, ros : ros,
name : '/left/robotiq_ft_wrench', name : '/left/monitor/eef_wrench',
messageType : 'geometry_msgs/WrenchStamped', messageType : 'geometry_msgs/WrenchStamped',
throttle_rate : 500 // 2Hz throttle_rate : 500 // 2Hz
}); });
@@ -362,11 +368,12 @@ var playbackStatus = new ROSLIB.Topic({
}); });
playbackStatus.subscribe(function(message) { playbackStatus.subscribe(function(message) {
message = JSON.parse(message); console.log("playbackStatus");
console.log(message);
message = JSON.parse(message.data);
status = message.status; status = message.status;
bagName = message.bag_file; bagName = message.bag_file;
console.log("playbackStatus");
console.log(playbackStatus);
if (status === "playing") { if (status === "playing") {
} else if (message === "stopped") } else if (message === "stopped")
@@ -513,7 +520,7 @@ function triggerService(serviceName, toSend, callback) {
if(serviceCallReturned) { if(serviceCallReturned) {
clearInterval(responseCheckInterval); clearInterval(responseCheckInterval);
return; return;
} else if (timeElapsedSinceServiceCall > 3000){ } else if (timeElapsedSinceServiceCall > 7000){
$(document).ready(function(){ $(document).ready(function(){
$.notify({ $.notify({
message: "Timeout on " + serviceName message: "Timeout on " + serviceName