Added talker.py and ability to bag files

ProjectFiles/js/ros_scripts.js

@@ -3,9 +3,11 @@ var ros = new ROSLIB.Ros();
 ros.topics = [];
 ros.nodes = [];
 
-ros.connectioninfo = ['ws://', '192', '168', '0', '100', '9090'];
-//             ros.connectionName = 'ws://localhost:9090';
+ros.recording = false;
+
+
 ros.connectionName = 'ws://192.168.0.100:9090';
+
 // If there is an error on the backend, an 'error' emit will be emitted.
 ros.on('error', function(error) {
     document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
@@ -47,6 +49,56 @@ ros.on('close', function() {
 ros.connect(ros.connectionName);
 
 
+///////////////////////////////////////////////////////////////////////////////////
+// Publishers
+///////////////////////////////////////////////////////////////////////////////////
+
+function publishBagMessage(bagFilename)
+{
+    var bagMessage = new ROSLIB.Message({
+        data : bagFilename
+    })
+    bagPublisher.publish(bagMessage)
+}
+
+////////////////////////////////////////////////////////////////
+// Topics
+////////////////////////////////////////////////////////////////
+
+var bagPublisher = new ROSLIB.Topic({
+    ros : ros,
+    name : 'bag_publisher',
+    messageType : 'std_msgs/String'
+});
+
+var bagNotifier = new ROSLIB.Topic({
+    ros : ros,
+    name : 'bag_notifier',
+    messageType : 'std_msgs/String'
+});
+
+////////////////////////////////////////////////////////////////
+// Subscribers
+////////////////////////////////////////////////////////////////
+
+
+bagNotifier.subscribe(function(message) {
+    if (message.data === "STARTED") {
+        document.getElementById("recordButtonText").innerHTML = "Stop"
+        document.getElementById("recordButton").className = "btn btn-danger"
+    } else {
+        document.getElementById("recordButtonText").innerHTML = "Start"
+        document.getElementById("recordButton").className = "btn btn-primary"
+    }
+});
+
+
+///////////////////////////////////////////////////////////////////////////////////
+// Functions
+///////////////////////////////////////////////////////////////////////////////////
+
+
+
 // attept to connect to the ros master from the IP given orgrab it from the form
 ros.attemptConnection = function(ipAddress)
 {
@@ -113,4 +165,17 @@ function getTime() {
         console.log("Getting Time...");
         console.log(result.time.secs);
     });
-};
+};
+
+function toggleRecording()
+{
+    document.getElementById("recordButtonText").innerHTML = "Wait"
+    document.getElementById("recordButton").className = "btn btn-warning"
+    if (!ros.recording) {
+        ros.recording = true
+        publishBagMessage(document.getElementById("recordText").value)
+    } else {
+        ros.recording = false
+        publishBagMessage("STOP")
+    }
+}