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Merge branch 'feature/robot_state' into develop

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This commit is contained in:
David Walsh
2019-03-28 12:50:20 -04:00
parent 713e696ef6 5f2b9f8d18
commit c182274d58
4 changed files with 109 additions and 91 deletions
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36
coordinator/coordinator.html
View File

@@ -20,12 +20,46 @@
</div>
<div class="panel panel-default">
<div class="panel-heading">
Hardware Commands
Franka Arm Status
</div>
<div class="panel-body text-center">
<div class="col-md-4">
Current Robot Status:
<!-- <div class="col-md-3" id="FrankaStatus">
N/A
</div> -->
<div class="row-md-3">
<h4><span id="frankaModeOther" class="label label-default">Other</span></h4>
</div>
<div class="row-md-3">
<h4><span id="frankaModeIdle" class="label label-default">Idle</span></h4>
</div>
<div class="row-md-3">
<h4><span id="frankaModeMove" class="label label-default">Move</span></h4>
</div>
<div class="row-md-3">
<h4><span id="frankaModeGuiding" class="label label-default">Guiding</span></h4>
</div>
<div class="row-md-3">
<h4><span id="frankaModeReflex" class="label label-default">Reflex</span></h4>
</div>
<div class="row-md-3">
<h4><span id="frankaModeUserStopped" class="label label-default">User Stopped</span></h4>
</div>
<div class="row-md-3">
<h4><span id="frankaModeErrorRecovery" class="label label-default">Automatic Error Recovery</span></h4>
</div>
</div>
<button id="fixFrankaButton" type="button" onclick="triggerService('/aescape/hardware/resetFrankaError')" class="btn btn-primary">
Fix Franka Errors
</button>
</div>
</div>
<div class="panel panel-default">
<div class="panel-heading">
Hardware Commands
</div>
<div class="panel-body text-center">
<button id="calibrateButton" type="button" onclick="triggerService('/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
Calibrate Robotiq
</button>

61
coordinator/js/ros_scripts.js
View File

@@ -30,15 +30,15 @@ modeStatus.subscribe(function(message) {
document.getElementById("executionModeButton").className = "btn btn-primary"
if (message.data === "stopped") {
if (message.data == "stopped") {
document.getElementById("stoppedModeButton").className = "btn btn-warning"
} else if (message.data === "standby")
} else if (message.data == "standby")
{
document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
} else if (message.data === "teach")
} else if (message.data == "teach")
{
document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
} else if (message.data === "execution")
} else if (message.data == "execution")
{
document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
}
@@ -55,7 +55,60 @@ bagPlayingTopic.subscribe(function(message) {
document.getElementById("bagPlayingText").innerHTML = message.data
});
// FrankaState
var frankaStatus = new ROSLIB.Topic({
ros : ros,
name : '/franka_state_controller/franka_states',
messageType : 'franka_msgs/FrankaState'
});
frankaStatus.subscribe(function(message) {
document.getElementById("frankaModeOther").className = "label label-default"
document.getElementById("frankaModeIdle").className = "label label-default"
document.getElementById("frankaModeMove").className = "label label-default"
document.getElementById("frankaModeGuiding").className = "label label-default"
document.getElementById("frankaModeReflex").className = "label label-default"
document.getElementById("frankaModeUserStopped").className = "label label-default"
document.getElementById("frankaModeErrorRecovery").className = "label label-default"
document.getElementById("fixFrankaButton").className = "btn btn-primary"
if (message.robot_mode == 0)
{
document.getElementById("frankaModeOther").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-danger"
}
else if (message.robot_mode == 1)
{
document.getElementById("frankaModeIdle").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-danger"
}
else if (message.robot_mode == 2)
{
document.getElementById("frankaModeMove").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-success"
}
else if (message.robot_mode == 3)
{
document.getElementById("frankaModeGuiding").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-default"
}
else if (message.robot_mode == 4)
{
document.getElementById("frankaModeReflex").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-danger"
}
else if (message.robot_mode == 5)
{
document.getElementById("frankaModeUserStopped").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-default"
}
else if (message.robot_mode == 6)
{
document.getElementById("frankaModeErrorRecovery").className = "label label-warning"
document.getElementById("fixFrankaButton").className = "btn btn-default"
}
});
////////////////////////////////////////////////////////////////
// Services

58
data_display/data_display.html
View File

@@ -42,61 +42,3 @@
</div>
<!-- ##################################### D-PAD ######################################### -->
<!--
<p>Click in the actual image. Relative coordinates will be displayed.</p>
<p id="rez"></p>
<div>
<img id="myImage" src="/backend/images/D-pad.png">
-->
<!-- ##################################### END D-PAD ######################################### -->
<!-- ##################################### Example Progress Bar ######################################### -->
<div class="panel panel-default">
<div class="panel-heading">
Example Pannel Heading
</div>
<div class="panel-body">
<div class="row">
<div class="col-md-2">
<label>
Bar Title
</label>
</div>
<div class="col-md-2">
<div class="progress">
<div id="progressBar1" class="progress-bar progress-bar-striped active" role="progressbar"
aria-valuenow="40" aria-valuemin="0" aria-valuemax="100" style="width:100%" >
No data recieved yet. </div>
</div>
</div>
</div>
</div>
</div>
<!-- ##################################### END Example Progress Bar ######################################### -->
<!-- ##################################### Example Image ######################################### -->
<div class="panel panel-default">
<div class="panel-heading">
Camera Image
</div>
<div class="panel-body">
<div class="col-lg-4">
<img height="350" alt="No Camera Image" id="imageStream" src="http://localhost:8080/stream?topic=/camera/image"></img>
</div>
</div>
</div>
<!-- ##################################### END Example Image ######################################### -->

45
index.html
View File

@@ -29,15 +29,6 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
<meta name="viewport" content="width=device-width, initial-scale=1">
<script>
$(function(){
$("#dataDisplayContent").load("data_display/data_display.html");
});
</script>
<script type="text/javascript" src="data_display/js/ros_scripts.js"></script>
<script type="text/javascript" src="data_display/js/update_guis.js"></script>
<script>
$(function(){
@@ -47,6 +38,15 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
<script type="text/javascript" src="coordinator/js/ros_scripts.js"></script>
<script type="text/javascript" src="coordinator/js/update_guis.js"></script>
<script>
$(function(){
$("#visionContent").load("vision/vision.html");
});
</script>
<script type="text/javascript" src="vision/js/ros_scripts.js"></script>
<script type="text/javascript" src="vision/js/update_guis.js"></script>
</head>
<body>
<div class="container">
@@ -61,37 +61,26 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
Not Connected
</span></a>
</li>
<!-- <li>
<a href="#DataDisplay" data-toggle="tab">
Data Display
</a>
</li> -->
<li class="active">
<a href="#Coordinator" data-toggle="tab">
Coordinator
</a>
</li>
<li>
<a href="#Vision" data-toggle="tab">
Vision
</a>
</li>
</ul>
<div id="my-tab-content" class="tab-content">
<div class="tab-pane" id="DataDisplay">
<!-- ##################################### ROBOT DISPLAY PANEL ######################################### -->
<div id="dataDisplayContent"></div>
<!-- ##################################### END DISPLAY PANEL ######################################### -->
</div>
<div class="tab-pane active" id="Coordinator">
<!-- ##################################### ROBOT DISPLAY PANEL ######################################### -->
<div id="coordinatorContent"></div>
<!-- ##################################### END DISPLAY PANEL ######################################### -->
</div>
<div class="tab-pane" id="Vision">
<div id="visionContent"></div>
</div>
<div class="tab-pane" id="rosbridgeconnection">