added client folders and cleaned index.html
This commit is contained in:
Rohit
93
client/app/components/connect/connect.html
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93
client/app/components/connect/connect.html
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@@ -0,0 +1,93 @@
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<div class="tab-pane" id="rosbridgeconnection">
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<div class="panel panel-default">
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<div class="panel-body">
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<form class="form-inline" role="form" onsubmit="return validateForm()">
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<div id="ConnectionIPForm" class="form-group has-warning" align="center">
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<span>
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<label id="ConnectionIPLabel" class="control-label" for="inputWarning">
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Connection Warning
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</label>
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</span>
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<span>
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<div class="input-group">
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<input type="text" id="ConnectionIPInput" class="form-control" placeholder="ROS Bridge Master IP" placeholder="No IP Address yet">
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<span class="input-group-btn">
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<button id="ConnectionButton" type="button" onclick="ros.attemptConnection()" class="btn btn-warning">
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Connect
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<script type="text/javascript">
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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</script>
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</button>
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</span>
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</div>
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</span>
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</div>
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</form>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Predefined ROSBridge Connections
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</div>
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<div class="panel-body">
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<button id="localhostButton" type="button" onclick="ros.attemptConnection('ws://localhost:9090')" class="btn btn-primary">
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localhost
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<script type="text/javascript">
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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</script>
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</button>
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<button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.local:9090')" class="btn btn-primary">
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Titan
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<script type="text/javascript">
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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</script>
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</button>
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<button id="PhoebeButton" type="button" onclick="ros.attemptConnection('ws://phoebe.local:9090')" class="btn btn-primary">
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Phoebe
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<script type="text/javascript">
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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</script>
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</button>
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<button id="RheaButton" type="button" onclick="ros.attemptConnection('ws://rhea.local:9090')" class="btn btn-primary">
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Rhea
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<script type="text/javascript">
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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</script>
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</button>
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</div>
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</div>
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</div>
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<script type="text/javascript">
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// Create a connection to the rosbridge WebSocket server.
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ros.connect(ros.connectionName);
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</script>
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<div class="panel panel-default">
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<div class="panel-heading">
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ROS Topics.
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</div>
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<div class="panel-body">
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<div class="col-sm-1" id="ROSTopics">
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N/A
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</div>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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ROS Nodes.
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</div>
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<div class="panel-body">
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<div class="col-sm-1" id="ROSNodes">
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N/A
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</div>
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</div>
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</div>
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</div>
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361
client/app/components/coordinator/coordinator.html
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361
client/app/components/coordinator/coordinator.html
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@@ -0,0 +1,361 @@
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<div class="panel panel-default">
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<div class="panel-body text-center">
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<div class="col-lg-6">
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<div class="panel panel-default">
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<div class="panel-heading">
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Left Arm Controls
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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EEF Configuration
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</div>
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<div class="panel-body text-center">
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You must be in "Stopped Mode" to change the EEF configuration!
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<button type="button" onclick="triggerService('/left/aescape/hardware/setTrainingEEF')" class="btn btn-primary">
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Recording EEF
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</button>
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<button type="button" onclick="triggerService('/left/aescape/hardware/setExecutionEEF')" class="btn btn-primary">
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Massage EEF
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</button>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Select Operation Mode
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</div>
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<div class="panel-body text-center">
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<div class="col-md-6">
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<button id="left_teachingModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateTeachingController')" class="btn btn-primary">
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Teaching Mode
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</button>
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<button id="left_executionModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController')" class="btn btn-primary">
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Massage Mode
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</button>
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<button id="left_readyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
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Ready Mode
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</button>
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<button id="left_standbyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateStandbyController')" class="btn btn-primary">
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Standby Mode
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</button>
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<button id="left_stoppedModeButton" type="button" onclick="triggerService('/left/aescape/mode/stopControllers')" class="btn btn-primary">
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Stopped Mode
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</button>
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</div>
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<div class="col-md-6">
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Safety Monitor Status:
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<div class="row-md-3">
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<h4><span id="left_safetyRunning" class="label label-default">Running</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_safetyStopped" class="label label-default">Stopped</span></h4>
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</div>
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<div class="row-md-3">
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<button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
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Activate Safety Monitor
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</button>
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</div>
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</div>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Franka Arm Status
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</div>
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<div class="panel-body text-center">
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<div class="col-md-4">
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Current Robot Status:
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<div class="row-md-3">
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<h4><span id="left_frankaModeOther" class="label label-default">Other</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeIdle" class="label label-default">Idle</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeMove" class="label label-default">Move</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeGuiding" class="label label-default">Guiding</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeReflex" class="label label-default">Reflex</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeUserStopped" class="label label-default">User Stopped</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeErrorRecovery" class="label label-default">Automatic Error Recovery</span></h4>
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</div>
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</div>
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<button id="left_fixFrankaButton" type="button" onclick="triggerService('/left/aescape/hardware/resetFrankaError')" class="btn btn-primary">
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Fix Franka Errors
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</button>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Robotiq
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</div>
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<div class="panel-body text-center">
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<div class="row-md-3">
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<div class="progress" id="robotiqForce">
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<div class="progress-bar bg-success" role="progressbar" id="robotiqForceBar" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
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</div>
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</div>
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<div class="row">
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<div class="col-md-4">
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Current Robotiq Values:
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<div class="row-md-3">
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<h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
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</div>
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<div class="row-md-3">
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<h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
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</div>
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<div class="row-md-3">
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<h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
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</div>
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</div>
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<div class="col-md-4">
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<button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
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Calibrate Robotiq
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</button>
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</div>
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</div>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Teaching Mode Operations
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</div>
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<div class="panel-body text-center">
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<span class="row">
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<label id="RecordingStatusLabel" class="label-warning">
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Bag manager not connected!
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</label>
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</span>
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<button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-default">
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Activate Ready Mode
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</button>
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<button id="recordingStartButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq'); triggerService('/left/aescape/mode/activateTeachingController'); triggerService('/aescape/bags/startTeachRecording')" class="btn btn-primary">
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Start Teach Recording
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</button>
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<button id="recordingStopButton" type="button" onclick="triggerService('/aescape/bags/stopTeachRecording'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
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Stop Teach Recording
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</button>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Execution Mode Operations
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</div>
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<div class="panel-body text-center">
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<span class="row">
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<label id="ExecutionStatusLabel" class="label-warning">
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Bag manager not connected!
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</label>
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</span>
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Last Bag Playing:
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<span id="lastbagText">
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None
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</span>
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<div class="row-md-4">
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<button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-default">
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Activate Ready Mode
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</button>
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<button id="executionLoadButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
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Load Last Recording
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</button>
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<button id="executionStartButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController'); triggerTopic('/left/run_trajectory')" class="btn btn-primary">
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Play Last Recording
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</button>
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<button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
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Stop Playing Recording
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</button>
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<div class="row-md-4">
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Bagfile name must not start with "/"
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<div class="input-group">
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<input type="text" id="bagNameText" class="form-control" placeholder="bag_filename">
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<span class="input-group-btn">
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<button class="btn btn-primary" type="button" onclick="triggerMessageService('/aescape/bags/startPlayingRecording', 'bagNameText')">
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<span>
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Start Playing Bag
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</span>
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</button>
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</span>
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</div>
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</div>
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</div>
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<!-- <div class="row-md-4">
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<<div class="col-md-3"> -->
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<!-- Bagfile name must not start with "/"
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<button class="btn btn-primary" type="button" onclick="updateRecordingsList()">
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Refresh List
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</button>
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</div> -->
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<div class="row-md-3 pt-4">
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<div style="height:300px;width:300px;overflow:auto">
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<div class="list-group" id="bagList">
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<button type="button" class="list-group-item list-group-item-action">Dapibus ac facilisis in</button>
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<button type="button" class="list-group-item list-group-item-action">Morbi leo risus</button>
|
||||
<button type="button" class="list-group-item list-group-item-action">Porta ac consectetur ac</button>
|
||||
<button type="button" class="list-group-item list-group-item-action">Vestibulum at eros</button>
|
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<button type="button" class="list-group-item list-group-item-action">Vestibulum at eros</button>
|
||||
<button type="button" class="list-group-item list-group-item-action">Vestibulum at eros</button>
|
||||
<button type="button" class="list-group-item list-group-item-action">Vestibulum at eros</button>
|
||||
<button type="button" class="list-group-item list-group-item-action">Vestibulum at eros</button>
|
||||
<button type="button" class="list-group-item list-group-item-action">Vestibulum at eros</button>
|
||||
<button type="button" class="list-group-item list-group-item-action">Vestibulum at eros</button>
|
||||
<button type="button" class="list-group-item list-group-item-action">Vestibulum at eros</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="col-lg-6">
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Right Arm Controls
|
||||
</div>
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
EEF Configuration
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
You must be in "Stopped Mode" to change the EEF configuration!
|
||||
<button type="button" onclick="triggerService('/right/aescape/hardware/setTrainingEEF')" class="btn btn-primary">
|
||||
Recording EEF
|
||||
</button>
|
||||
<button type="button" onclick="triggerService('/right/aescape/hardware/setExecutionEEF')" class="btn btn-primary">
|
||||
Massage EEF
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Select Operation Mode
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="col-md-6">
|
||||
<button id="right_teachingModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateTeachingController')" class="btn btn-primary">
|
||||
Teaching Mode
|
||||
</button>
|
||||
<button id="right_executionModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateExecutionController')" class="btn btn-primary">
|
||||
Massage Mode
|
||||
</button>
|
||||
<button id="right_readyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateReadyController')" class="btn btn-primary">
|
||||
Ready Mode
|
||||
</button>
|
||||
<button id="right_standbyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateStandbyController')" class="btn btn-primary">
|
||||
Standby Mode
|
||||
</button>
|
||||
<button id="right_stoppedModeButton" type="button" onclick="triggerService('/right/aescape/mode/stopControllers')" class="btn btn-primary">
|
||||
Stopped Mode
|
||||
</button>
|
||||
</div>
|
||||
<div class="col-md-6">
|
||||
Safety Monitor Status:
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_safetyRunning" class="label label-default">Running</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_safetyStopped" class="label label-default">Stopped</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<button type="button" onclick="triggerService('/right/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
|
||||
Activate Safety Monitor
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Franka Arm Status
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="col-md-4">
|
||||
Current Robot Status:
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeOther" class="label label-default">Other</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeIdle" class="label label-default">Idle</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeMove" class="label label-default">Move</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeGuiding" class="label label-default">Guiding</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeReflex" class="label label-default">Reflex</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeUserStopped" class="label label-default">User Stopped</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeErrorRecovery" class="label label-default">Automatic Error Recovery</span></h4>
|
||||
</div>
|
||||
</div>
|
||||
<button id="right_fixFrankaButton" type="button" onclick="triggerService('/right/aescape/hardware/resetFrankaError')" class="btn btn-primary">
|
||||
Fix Franka Errors
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<!-- <div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Robotiq
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="col-md-4">
|
||||
Current Robotiq Values:
|
||||
<div class="row-md-3">
|
||||
<h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
|
||||
</div>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<button id="calibrateButton" type="button" onclick="triggerService('/right/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
|
||||
Calibrate Robotiq
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div> -->
|
||||
</div>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- <div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Execution Recording Operations
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<button id="executionStartButton" type="button" onclick="triggerService('/startExecutionRecording')" class="btn btn-primary">
|
||||
Start Recording Execution
|
||||
</button>
|
||||
<button id="executionRecordingStopButton" type="button" onclick="triggerService('/stopExecutionRecording')" class="btn btn-primary">
|
||||
Stop Recording Execution
|
||||
</button>
|
||||
</div>
|
||||
</div> -->
|
||||
311
client/app/components/coordinator/js/ros_scripts.js
Normal file
311
client/app/components/coordinator/js/ros_scripts.js
Normal file
@@ -0,0 +1,311 @@
|
||||
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////
|
||||
// Publishers
|
||||
///////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
function triggerTopic(topicName)
|
||||
{
|
||||
var topic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : topicName,
|
||||
messageType : 'std_msgs/Empty'
|
||||
});
|
||||
|
||||
var msg = new ROSLIB.Message({});
|
||||
|
||||
topic.publish(msg);
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////
|
||||
// Topics
|
||||
////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////
|
||||
// Subscribers
|
||||
////////////////////////////////////////////////////////////////
|
||||
|
||||
class ArmControls
|
||||
{
|
||||
constructor(namespace) {
|
||||
this.namespace = namespace;
|
||||
|
||||
// Franka Status
|
||||
this.frankaStatusTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/'+this.namespace+'/franka_state_controller/franka_states',
|
||||
messageType : 'franka_msgs/FrankaState',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
this.frankaStatusTopic.subscribe(this.frankaStatus.bind(this));
|
||||
|
||||
// Mode Status
|
||||
this.modeStatusTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/'+this.namespace+'/aescape/mode/status',
|
||||
messageType : 'std_msgs/String',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
this.modeStatusTopic.subscribe(this.modeStatus.bind(this));
|
||||
|
||||
// Safety Status
|
||||
this.safetyStatusTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/'+this.namespace+'/aescape/mode/safety_status',
|
||||
messageType : 'std_msgs/String',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
this.safetyStatusTopic.subscribe(this.safetyStatus.bind(this));
|
||||
|
||||
}
|
||||
|
||||
// FrankaState
|
||||
frankaStatus(message) {
|
||||
document.getElementById(this.namespace+"_frankaModeOther").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeIdle").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeMove").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeGuiding").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeReflex").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeUserStopped").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeErrorRecovery").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-primary"
|
||||
|
||||
if (message.robot_mode == 0)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeOther").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
|
||||
}
|
||||
else if (message.robot_mode == 1)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeIdle").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
|
||||
}
|
||||
else if (message.robot_mode == 2)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeMove").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-success"
|
||||
}
|
||||
else if (message.robot_mode == 3)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeGuiding").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
|
||||
}
|
||||
else if (message.robot_mode == 4)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeReflex").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
|
||||
|
||||
}
|
||||
else if (message.robot_mode == 5)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeUserStopped").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
|
||||
}
|
||||
else if (message.robot_mode == 6)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeErrorRecovery").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
|
||||
}
|
||||
}
|
||||
|
||||
// Operation Mode
|
||||
modeStatus(message) {
|
||||
document.getElementById(this.namespace+"_stoppedModeButton").className = "btn btn-secondary"
|
||||
document.getElementById(this.namespace+"_standbyModeButton").className = "btn btn-primary"
|
||||
document.getElementById(this.namespace+"_readyModeButton").className = "btn btn-primary"
|
||||
document.getElementById(this.namespace+"_teachingModeButton").className = "btn btn-primary"
|
||||
document.getElementById(this.namespace+"_executionModeButton").className = "btn btn-primary"
|
||||
|
||||
if (this.namespace == "left")
|
||||
{
|
||||
document.getElementById("recordingStartButton").disabled = true
|
||||
document.getElementById("executionStartButton").disabled = true
|
||||
}
|
||||
|
||||
if (message.data == "stopped")
|
||||
{
|
||||
document.getElementById(this.namespace+"_stoppedModeButton").className = "btn btn-warning"
|
||||
}
|
||||
else if (message.data == "standby")
|
||||
{
|
||||
document.getElementById(this.namespace+"_standbyModeButton").className = "btn btn-primary btn-success"
|
||||
}
|
||||
else if (message.data == "teach")
|
||||
{
|
||||
document.getElementById(this.namespace+"_teachingModeButton").className = "btn btn-primary btn-success"
|
||||
}
|
||||
else if (message.data == "execution")
|
||||
{
|
||||
document.getElementById(this.namespace+"_executionModeButton").className = "btn btn-primary btn-success"
|
||||
}
|
||||
else if (message.data == "ready")
|
||||
{
|
||||
document.getElementById(this.namespace+"_readyModeButton").className = "btn btn-primary btn-success"
|
||||
|
||||
if (this.namespace == "left")
|
||||
{
|
||||
document.getElementById("recordingStartButton").disabled = false
|
||||
document.getElementById("executionStartButton").disabled = false
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
safetyStatus(message) {
|
||||
document.getElementById(this.namespace+"_safetyRunning").className = 'label label-default';
|
||||
document.getElementById(this.namespace+"_safetyStopped").className = 'label label-default';
|
||||
|
||||
if (message.data == "stopped")
|
||||
{
|
||||
document.getElementById(this.namespace+"_safetyStopped").className = 'label label-danger';
|
||||
}
|
||||
else if (message.data == "running")
|
||||
{
|
||||
document.getElementById(this.namespace+"_safetyRunning").className = 'label label-success';
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
var leftArmControls = new ArmControls('left');
|
||||
var rightArmControls = new ArmControls('right');
|
||||
|
||||
|
||||
// Robotiq Data
|
||||
var robotiqDataTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/left/robotiq_ft_wrench',
|
||||
messageType : 'geometry_msgs/WrenchStamped',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
|
||||
robotiqDataTopic.subscribe(function(message) {
|
||||
var force = message.wrench.force
|
||||
document.getElementById("robotiqX").innerHTML = force.x.toFixed(1)
|
||||
document.getElementById("robotiqY").innerHTML = force.y.toFixed(1)
|
||||
document.getElementById("robotiqZ").innerHTML = force.z.toFixed(1)
|
||||
|
||||
var totalForce = math.norm([force.x, force.y, force.z]).toFixed(1)
|
||||
var totalForcePercent = totalForce/2
|
||||
|
||||
doc = document.getElementById("robotiqForceBar");
|
||||
doc.style.width = totalForcePercent + "%";
|
||||
doc.innerHTML = totalForce + " N";
|
||||
doc.setAttribute('aria-valuenow', totalForce);
|
||||
|
||||
|
||||
if ((Math.abs(force.x) > 0.5) || (Math.abs(force.y) > 0.5) || (Math.abs(force.z) > 0.5))
|
||||
{
|
||||
document.getElementById("calibrateButton").className = "btn btn-danger"
|
||||
} else {
|
||||
document.getElementById("calibrateButton").className = "btn btn-default"
|
||||
}
|
||||
});
|
||||
|
||||
|
||||
// Recording Bag
|
||||
var recordingBagTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/aescape/bags/recording_status',
|
||||
messageType : 'std_msgs/String'
|
||||
});
|
||||
|
||||
recordingBagTopic.subscribe(function(message) {
|
||||
if (message.data == "stopped")
|
||||
{
|
||||
document.getElementById("RecordingStatusLabel").innerHTML = 'Not Running';
|
||||
document.getElementById("RecordingStatusLabel").className = 'label label-warning';
|
||||
}
|
||||
else if (message.data == "running")
|
||||
{
|
||||
document.getElementById("RecordingStatusLabel").innerHTML = 'RUNNING!';
|
||||
document.getElementById("RecordingStatusLabel").className = 'label label-success';
|
||||
}
|
||||
});
|
||||
|
||||
// Executing Bag
|
||||
var executingBagTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/aescape/bags/execution_status',
|
||||
messageType : 'std_msgs/String'
|
||||
});
|
||||
|
||||
executingBagTopic.subscribe(function(message) {
|
||||
if (message.data == "stopped")
|
||||
{
|
||||
document.getElementById("ExecutionStatusLabel").innerHTML = 'Not Running';
|
||||
document.getElementById("ExecutionStatusLabel").className = 'label label-warning';
|
||||
}
|
||||
else if (message.data == "running")
|
||||
{
|
||||
document.getElementById("ExecutionStatusLabel").innerHTML = 'RUNNING!';
|
||||
document.getElementById("ExecutionStatusLabel").className = 'label label-success';
|
||||
}
|
||||
});
|
||||
|
||||
|
||||
// Last Bag
|
||||
var bagPlayingTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/aescape/bags/last_played',
|
||||
messageType : 'std_msgs/String'
|
||||
});
|
||||
|
||||
bagPlayingTopic.subscribe(function(message) {
|
||||
document.getElementById("lastbagText").innerHTML = message.data
|
||||
});
|
||||
|
||||
////////////////////////////////////////////////////////////////
|
||||
// Services
|
||||
////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
function triggerService(serviceName)
|
||||
{
|
||||
var service = new ROSLIB.Service({
|
||||
ros : ros,
|
||||
name : serviceName,
|
||||
serviceType : 'std_srvs/Trigger'
|
||||
});
|
||||
|
||||
var request = new ROSLIB.ServiceRequest({});
|
||||
|
||||
service.callService(request, function(result) {
|
||||
console.log('Result for service call on '
|
||||
+ serviceName
|
||||
+ ': '
|
||||
+ result.sum);
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
function triggerMessageService(serviceName, textInput)
|
||||
{
|
||||
var text = document.getElementById(textInput).value
|
||||
|
||||
var service = new ROSLIB.Service({
|
||||
ros : ros,
|
||||
name : serviceName,
|
||||
serviceType : 'demobot.TriggerMessage'
|
||||
});
|
||||
|
||||
var request = new ROSLIB.ServiceRequest({
|
||||
message : text
|
||||
});
|
||||
|
||||
service.callService(request, function(result) {
|
||||
console.log('Result for service call on '
|
||||
+ serviceName
|
||||
+ ': '
|
||||
+ result.sum);
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
// function executeBagForm()
|
||||
function updateSelectedBagFile(newFile)
|
||||
{
|
||||
// var newFile = document.getElementById(newFileInput).innerHTML
|
||||
document.getElementById("bagNameText").value = newFile
|
||||
}
|
||||
47
client/app/components/coordinator/js/update_guis.js
Normal file
47
client/app/components/coordinator/js/update_guis.js
Normal file
@@ -0,0 +1,47 @@
|
||||
var bagList = Array();
|
||||
|
||||
function getBagList()
|
||||
{
|
||||
var service = new ROSLIB.Service({
|
||||
ros : ros,
|
||||
name : '/aescape/bags/getBagList',
|
||||
serviceType : 'demobot/TriggerList'
|
||||
});
|
||||
|
||||
var request = new ROSLIB.ServiceRequest({});
|
||||
|
||||
service.callService(request, function(result) {
|
||||
// console.log('Result for service call on '
|
||||
// + serviceName
|
||||
// + ': '
|
||||
// + result.message);
|
||||
|
||||
bagList = result.message;
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
function updateRecordingsList()
|
||||
{
|
||||
getBagList();
|
||||
|
||||
if(bagList != null){
|
||||
var innerHTML = "";
|
||||
for (var i = 0; i < bagList.length; i++ )
|
||||
{
|
||||
// innerHTML = innerHTML.concat(bagList[i]);
|
||||
// innerHTML = innerHTML.concat("<br>");
|
||||
|
||||
|
||||
innerHTML += "<button type=\"button\" class=\"list-group-item list-group-item-action\" onclick=\"updateSelectedBagFile('" + bagList[i] + "')\">" + bagList[i] + "</button>";
|
||||
// innerHTML += "<button type=\"button\" class=\"list-group-item list-group-item-action\" onclick=\"triggerMessageService('/aescape/bags/startPlayingRecording', '" + bagList[i] + "')\">" + bagList[i] + "</button>";
|
||||
}
|
||||
document.getElementById("bagList").innerHTML = innerHTML;
|
||||
}
|
||||
document.getElementById("bagNameText").value = message.data
|
||||
};
|
||||
|
||||
|
||||
window.setInterval(function(){
|
||||
updateRecordingsList();
|
||||
}, 1000);
|
||||
104
client/app/components/vision/js/ros_scripts.js
Normal file
104
client/app/components/vision/js/ros_scripts.js
Normal file
@@ -0,0 +1,104 @@
|
||||
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////
|
||||
// Publishers
|
||||
///////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////
|
||||
// Topics
|
||||
////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////
|
||||
// Subscribers
|
||||
////////////////////////////////////////////////////////////////
|
||||
|
||||
// Operation Mode
|
||||
var modeStatus = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/aescape/mode/status',
|
||||
messageType : 'std_msgs/String'
|
||||
});
|
||||
|
||||
modeStatus.subscribe(function(message) {
|
||||
document.getElementById("stoppedModeButton").className = "btn btn-secondary"
|
||||
document.getElementById("standbyModeButton").className = "btn btn-primary"
|
||||
document.getElementById("teachingModeButton").className = "btn btn-primary"
|
||||
document.getElementById("executionModeButton").className = "btn btn-primary"
|
||||
|
||||
|
||||
if (message.data === "stopped") {
|
||||
document.getElementById("stoppedModeButton").className = "btn btn-warning"
|
||||
} else if (message.data === "standby")
|
||||
{
|
||||
document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
|
||||
} else if (message.data === "teach")
|
||||
{
|
||||
document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
|
||||
} else if (message.data === "execution")
|
||||
{
|
||||
document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
|
||||
}
|
||||
});
|
||||
|
||||
// Playing Bag
|
||||
var bagPlayingTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/aescape/bags/playing',
|
||||
messageType : 'std_msgs/String'
|
||||
});
|
||||
|
||||
bagPlayingTopic.subscribe(function(message) {
|
||||
document.getElementById("bagPlayingText").innerHTML = message.data
|
||||
});
|
||||
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////
|
||||
// Services
|
||||
////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
function triggerService(serviceName)
|
||||
{
|
||||
var service = new ROSLIB.Service({
|
||||
ros : ros,
|
||||
name : serviceName,
|
||||
serviceType : 'std_srvs/Trigger'
|
||||
});
|
||||
|
||||
var request = new ROSLIB.ServiceRequest({});
|
||||
|
||||
service.callService(request, function(result) {
|
||||
console.log('Result for service call on '
|
||||
+ serviceName
|
||||
+ ': '
|
||||
+ result.sum);
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
function triggerMessageService(serviceName, textInput)
|
||||
{
|
||||
var text = document.getElementById(textInput).value
|
||||
|
||||
var service = new ROSLIB.Service({
|
||||
ros : ros,
|
||||
name : serviceName,
|
||||
serviceType : 'demobot.TriggerMessage'
|
||||
});
|
||||
|
||||
var request = new ROSLIB.ServiceRequest({
|
||||
message : text
|
||||
});
|
||||
|
||||
service.callService(request, function(result) {
|
||||
console.log('Result for service call on '
|
||||
+ serviceName
|
||||
+ ': '
|
||||
+ result.sum);
|
||||
});
|
||||
}
|
||||
0
client/app/components/vision/js/update_guis.js
Normal file
0
client/app/components/vision/js/update_guis.js
Normal file
122
client/app/components/vision/vision.html
Normal file
122
client/app/components/vision/vision.html
Normal file
@@ -0,0 +1,122 @@
|
||||
|
||||
<!-- <div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Select Operation Mode
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<button id="teachingModeButton" type="button" onclick="triggerService('/aescape/mode/activateTeachingController')" class="btn btn-primary">
|
||||
Teaching Mode
|
||||
</button>
|
||||
<button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
|
||||
Massage Mode
|
||||
</button>
|
||||
<button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/activateStandbyController')" class="btn btn-primary">
|
||||
Standby Mode
|
||||
</button>
|
||||
<button id="stoppedModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
|
||||
Stopped Mode
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Hardware Commands
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<button id="fixFrankaButton" type="button" onclick="triggerService('/aescape/hardware/resetFrankaError')" class="btn btn-primary">
|
||||
Fix Franka Errors
|
||||
</button>
|
||||
<button id="calibrateButton" type="button" onclick="triggerService('/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
|
||||
Calibrate Robotiq
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Teaching Mode Operations
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<button id="recordingStartButton" type="button" onclick="triggerService('/aescape/bags/startTeachRecording')" class="btn btn-primary">
|
||||
Start Teach Recording
|
||||
</button>
|
||||
<button id="recordingStopButton" type="button" onclick="triggerService('/aescape/bags/stopTeachRecording')" class="btn btn-primary">
|
||||
Stop Teach Recording
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Execution Mode Operations
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
Last Bag Playing:
|
||||
<span id="bagPlayingText">
|
||||
None
|
||||
</span>
|
||||
<div>
|
||||
<button id="executionStartButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
|
||||
Play Last Recording
|
||||
</button>
|
||||
<button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag')" class="btn btn-primary">
|
||||
Stop Playing Recording
|
||||
</button>
|
||||
<div class="row">
|
||||
<div class="col-md-3">
|
||||
Bagfile name must not start with "/"
|
||||
<div class="input-group">
|
||||
<input type="text" id="bagNameText" class="form-control" placeholder="bag_filename">
|
||||
<span class="input-group-btn">
|
||||
<button class="btn btn-primary" type="button" onclick="triggerMessageService('/startPlayingRecording', 'bagNameText')">
|
||||
<span>
|
||||
Start Playing Bag
|
||||
</span>
|
||||
</button>
|
||||
</span>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
</div> -->
|
||||
|
||||
<script type="text/javascript" src="vision/js/ros_scripts.js"></script>
|
||||
<script type="text/javascript" src="vision/js/update_guis.js"></script>
|
||||
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Camera Views
|
||||
</div>
|
||||
<div class="panel-body">
|
||||
Webcam
|
||||
<div class="row-lg-4">
|
||||
<img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/webcam/image_raw&type=ros_compressed"></img>
|
||||
</div>
|
||||
Realsense Red
|
||||
<div class="row-lg-4">
|
||||
<img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/real_red/color/image_raw&type=ros_compressed"></img>
|
||||
</div>
|
||||
Realsense Green
|
||||
<div class="row-lg-4">
|
||||
<img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/real_green/color/image_raw&type=ros_compressed"></img>
|
||||
</div>
|
||||
Thermal
|
||||
<div class="row-lg-4">
|
||||
<img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/thermal/image_raw&type=ros_compressed"></img>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- <div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Execution Recording Operations
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<button id="executionStartButton" type="button" onclick="triggerService('/startExecutionRecording')" class="btn btn-primary">
|
||||
Start Recording Execution
|
||||
</button>
|
||||
<button id="executionRecordingStopButton" type="button" onclick="triggerService('/stopExecutionRecording')" class="btn btn-primary">
|
||||
Stop Recording Execution
|
||||
</button>
|
||||
</div>
|
||||
</div> -->
|
||||
Reference in New Issue
Block a user