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Added talker.py and ability to bag files

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GLEN TURNER (8GT6)
2015-06-01 12:39:59 -04:00
parent 9002afaeb8
commit d5282805da
9 changed files with 218 additions and 60 deletions
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69
ProjectFiles/js/ros_scripts.js
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@@ -3,9 +3,11 @@ var ros = new ROSLIB.Ros();
ros.topics = []; ros.topics = [];
ros.nodes = []; ros.nodes = [];
ros.connectioninfo = ['ws://', '192', '168', '0', '100', '9090']; ros.recording = false;
// ros.connectionName = 'ws://localhost:9090';
ros.connectionName = 'ws://192.168.0.100:9090'; ros.connectionName = 'ws://192.168.0.100:9090';
// If there is an error on the backend, an 'error' emit will be emitted. // If there is an error on the backend, an 'error' emit will be emitted.
ros.on('error', function(error) { ros.on('error', function(error) {
document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback"; document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
@@ -47,6 +49,56 @@ ros.on('close', function() {
ros.connect(ros.connectionName); 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 // attept to connect to the ros master from the IP given orgrab it from the form
ros.attemptConnection = function(ipAddress) ros.attemptConnection = function(ipAddress)
{ {
@@ -114,3 +166,16 @@ function getTime() {
console.log(result.time.secs); 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")
}
}

BIN
data/_2015-06-01-12-38-44.bag Normal file
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147
index.html
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@@ -66,7 +66,7 @@
<script src="../../include/js/bootstrap.min.js"></script> <script src="../../include/js/bootstrap.min.js"></script>
<!-- ##################################### ROS BAG PANEL ######################################### --> <!-- ##################################### ROS BAG PANEL ######################################### -->
<!-- ROS Bag Panel --> <!-- ROS Bag Panel -->
<div class="panel panel-default"> <div class="panel panel-default">
@@ -75,9 +75,18 @@
</div> </div>
<div class="panel-body"> <div class="panel-body">
<div class="row"> <div class="row">
<button id="ConnectionButton" type="button" > <div class="col-md-3">
Connect <div class="input-group">
</button> <input type="text" id="recordText" class="form-control" placeholder="bag_filename">
<span class="input-group-btn">
<button class="btn btn-primary" id="recordButton" type="button" onclick="toggleRecording()">
<span id="recordButtonText">
Start
</span>
</button>
</span>
</div>
</div>
</div> </div>
</div> </div>
@@ -91,87 +100,115 @@
<div class="panel-body"> <div class="panel-body">
<div class="row"> <div class="row">
<label class="col-sm-2"> Bar Title </label> <label class="col-sm-2">
Bar Title
</label>
<div class="progress"> <div class="progress">
<div id="progressBar1" class="progress-bar progress-bar-striped active" role="progressbar" <div id="progressBar1" class="progress-bar progress-bar-striped active" role="progressbar"
aria-valuenow="40" aria-valuemin="0" aria-valuemax="100" style="width:100%" > aria-valuenow="40" aria-valuemin="0" aria-valuemax="100" style="width:100%" >
No data recieved yet. </div> No data recieved yet. </div>
</div> </div>
</div> </div>
<div class="row">
<label class="col-sm-2">
Up Time (s):
</label>
<div class="col-sm-1" id="UpTime">
N/A
</div>
</div>
<div class="row">
<label class="col-sm-2">
Up Time (s):
</label>
<div class="col-sm-1" id="UpTime">
N/A
</div>
</div>
</div> </div>
<div class="row">
<label class="col-sm-2"> Up Time (s): </label>
<div class="col-sm-1" id="UpTime">
N/A
</div>
</div>
</div> </div>
</div> </div>
<!-- ##################################### END ROS BAG PANEL ######################################### --> <!-- ##################################### END ROS BAG PANEL ######################################### -->
<div class="tab-pane" id="rosbridgeconnection"> <div class="tab-pane" id="rosbridgeconnection">
<div class="panel panel-default"> <div class="panel panel-default">
<div class="panel-body"> <div class="panel-body">
<form class="form-inline" role="form" onsubmit="return validateForm()">
<div id="ConnectionIPForm" class="form-group has-warning" align="center">
<label id="ConnectionIPLabel" class="col-sm-3 control-label" for="inputWarning"> <form class="form-inline" role="form" onsubmit="return validateForm()">
Connection Warning <div id="ConnectionIPForm" class="form-group has-warning" align="center">
</label> <span>
<label id="ConnectionIPLabel" class="control-label" for="inputWarning">
Connection Warning
</label>
</span>
<span>
<div class="input-group">
<input type="text" id="ConnectionIPInput" class="form-control" placeholder="bag_filename" value="No IP Address yet">
<span class="input-group-btn">
<button id="ConnectionButton" type="button" onclick="ros.attemptConnection()">
Connect
<script type="text/javascript">
document.getElementById("ConnectionIPInput").value = ros.connectionName;
</script>
</button>
</span>
</div>
</span>
<div class="col-sm-6">
<input type="text" class="form-control" id="ConnectionIPInput" value="No IP Address yet"/>
</div> </div>
<div class="col-sm-2"> </form>
<button id="ConnectionButton" type="button" onclick="ros.attemptConnection()"> </div>
Connect </div>
</button>
<script type="text/javascript"> <div class="panel panel-default">
document.getElementById("ConnectionIPInput").value = ros.connectionName; <div class="panel-heading">
</script> ROS Topics
</div> </div>
<div class="panel-body">
<div class="col-sm-1" id="ROSTopics">
N/A
</div> </div>
</form>
</div>
</div>
<div class="panel panel-default">
<div class="panel-heading">
ROS Topics
</div>
<div class="panel-body">
<div class="col-sm-1" id="ROSTopics">
N/A
</div> </div>
</div> </div>
</div>
<div class="panel panel-default"> <div class="panel panel-default">
<div class="panel-heading"> <div class="panel-heading">
ROS Nodes ROS Nodes
</div> </div>
<div class="panel-body"> <div class="panel-body">
<div class="col-sm-1" id="ROSNodes"> <div class="col-sm-1" id="ROSNodes">
N/A N/A
</div>
</div> </div>
</div> </div>
</div>
</div>
</div> </div>
</div> </div>
</div> </div>
</div>
</body> </body>
</html> </html>

1
launch/all.launch
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@@ -1,4 +1,5 @@
<launch> <launch>
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" /> <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
<include file="$(find rosbridge_GUI_example)/launch/bagger.launch" /> <include file="$(find rosbridge_GUI_example)/launch/bagger.launch" />
<include file="$(find rosbridge_GUI_example)/launch/talker.launch" />
</launch> </launch>

3
launch/talker.launch Normal file
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@@ -0,0 +1,3 @@
<launch>
<node name="talker" pkg="rosbridge_GUI_example" type="talker.py" />
</launch>

3
src/bagger.py
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@@ -23,8 +23,7 @@ class Bagger(object):
else: else:
bag_file = os.path.join(self.data_path, msg.data) bag_file = os.path.join(self.data_path, msg.data)
self.proc = subprocess.Popen(["rosbag", "record", self.proc = subprocess.Popen(["rosbag", "record",
"kinect2/depth_lowres/points", "kinect2/rgb_lowres/image", "--all", "-o", bag_file], preexec_fn=os.setsid)
"tf", "imu/data", "-o", bag_file], preexec_fn=os.setsid)
self.pub.publish("STARTED") self.pub.publish("STARTED")

33
src/bagger.py~ Executable file
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@@ -0,0 +1,33 @@
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
import rospkg
import subprocess
import os
import signal
class Bagger(object):
def __init__(self):
rospy.init_node("bagger", anonymous=True)
rospy.Subscriber("bag_publisher", String, self.callback)
self.pub = rospy.Publisher("bag_notifier", String, queue_size=10)
self.proc = None
rospack = rospkg.RosPack()
self.data_path = os.path.join(rospack.get_path("rosbridge_GUI_example"), "data")
def callback(self, msg):
if msg.data == "STOP" and self.proc is not None:
os.killpg(self.proc.pid, signal.SIGINT)
self.pub.publish("STOPPED")
else:
bag_file = os.path.join(self.data_path, msg.data)
self.proc = subprocess.Popen(["rosbag", "record",
"kinect2/depth_lowres/points", "kinect2/rgb_lowres/image",
"tf", "imu/data", "-o", bag_file], preexec_fn=os.setsid)
self.pub.publish("STARTED")
if __name__ == '__main__':
Bagger()
rospy.spin()

20
src/talker.py Executable file
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@@ -0,0 +1,20 @@
#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String
def talker():
pub = rospy.Publisher('chatter', String, queue_size=10)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
hello_str = "hello world %s" % rospy.get_time()
rospy.loginfo(hello_str)
pub.publish(hello_str)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass

0
src/talker.py~ Normal file
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