fixes

client/app/components/coordinator/js/ros_scripts.js

@@ -71,15 +71,13 @@ class ArmControls
 
     this.frankaForceCommandedTopic = new ROSLIB.Topic({
       ros : ros,
-      name : '/'+this.namespace+'/robot_goal', 
+      name : '/'+this.namespace+'/goal_wrench', 
       messageType : 'geometry_msgs/WrenchStamped',
       throttle_rate : 500 // 2Hz
     });
 
     this.frankaForceCommandedTopic.subscribe(this.frankaForce.bind(this, 'commanded'));
-
     
-  
     this.lastActiveButton = {
       safetyMode : null, 
       frankaMode : null, 
@@ -347,6 +345,26 @@ executingBagTopic.subscribe(function(message) {
 });
 
 
+
+var bagNotifier = new ROSLIB.Topic({
+  ros : ros,
+  name : '/left/playback/status',
+  messageType : 'std_msgs/String'
+});
+
+
+bagNotifier.subscribe(function(message) {
+  console.log("bagNotifier: " +message.data)
+  if (message.data === "playing") {
+
+  } else if (message.data === "stopped")
+  {
+
+  }
+
+});
+
+
 // Last Bag
 var bagPlayingTopic = new ROSLIB.Topic({
   ros : ros,
@@ -364,6 +382,8 @@ bagPlayingTopic.subscribe(function(message) {
 
 function triggerService(serviceName, toSend, callback) {
 
+  disableUI();
+
   var callback = callback || $.noop;
 
   if(!toSend) {
@@ -423,8 +443,7 @@ function triggerService(serviceName, toSend, callback) {
             delay: 1000 
           });
         });
-        console.log("callback from callService in triggerService");
-        console.log(callback);
+        enableUI();
         return callback(null, {success : true});
       } else {
         $(document).ready(function(){
@@ -439,6 +458,7 @@ function triggerService(serviceName, toSend, callback) {
             delay: 1000 
           });
         });
+        enableUI();
         return callback("Something went wrong :( " + serviceName, {success : false});
       }
   }, function(error){
@@ -455,6 +475,7 @@ function triggerService(serviceName, toSend, callback) {
           delay: 1000 
         });
       });
+      enableUI();
       return callback("Something went wrong :( " + serviceName, {success : false})
   });
   var responseCheckInterval = setInterval(function() {
@@ -476,6 +497,7 @@ function triggerService(serviceName, toSend, callback) {
           });
         });
         clearInterval(responseCheckInterval);
+        enableUI();
         return;
     }
   }, 1000);
@@ -512,8 +534,8 @@ function setEEFConfig(arm, config) {
 function startTeachRecoding() {
   async.waterfall([
       function(callback) {
-          triggerService('/left/aescape/hardware/calibrateRobotiq', false, function(){
-            callback();
+          triggerService('/left/aescape/hardware/calibrateRobotiq', false, function(err, res){
+            callback(err, res);
           });
       },
       function(response, callback) {
@@ -523,25 +545,23 @@ function startTeachRecoding() {
           triggerService('/aescape/bags/startTeachRecording', false, callback)
       }
   ], function (err, result) {
-
+    console.log("starting teach recoding");
   });
 }
 
 function stopTeachRecording() {
   async.waterfall([
       function(callback) {
-          console.log("function 1");
           triggerService('/aescape/bags/stopTeachRecording', false, callback);
       },
       function(response, callback) {
-          console.log("function 2");
           triggerService('/left/aescape/mode/activateReadyController', false, callback);
       },
       function(response, callback) {
-          console.log("function 3");
-          console.log(callback)
+        setTimeout(function(){
           displayTaggingOptions('teach');
           callback();
+        }, 2000)
       }
   ], function (err, result) {
     console.log(err);
@@ -571,8 +591,11 @@ function stopPlayingRecording() {
           triggerService('/left/aescape/mode/activateReadyController', false, callback);
       },
       function(response, callback) {
+        setTimeout(function(){
           displayTaggingOptions('play');
           callback();
+        }, 2000)
+
       }
   ], function (err, result) {
       // result now equals 'done'

client/app/components/coordinator/js/update_guis.js

@@ -9,9 +9,15 @@ function getBagList(callback)
     serviceType : 'demobot/TriggerList'
   });
   
-  var request = new ROSLIB.ServiceRequest({});
+  toSend = {
+    message : String(Math.random())
+  }
+
+  var request = new ROSLIB.ServiceRequest(toSend);
   
   service.callService(request, function(result) {
+    console.log("result from getBagList");
+    console.log(result.message);
     callback(JSON.parse(result.message));
   });
 }

client/app/utilities/ros_scripts.js

@@ -183,66 +183,6 @@ ros.on('close', function() {
 //ros.connect(ros.connectionName);
 
 
-///////////////////////////////////////////////////////////////////////////////////
-// Publishers
-///////////////////////////////////////////////////////////////////////////////////
-
-function publishBagMessage(bagFilename)
-{
-  var bag_file_message = ""
-  bag_file_message += bagFilename;
-  if (bagFilename != "STOP")
-  {
-    for (topic in ros.topics)
-    {
-      if(ros.topics[topic].bag)
-      {
-        bag_file_message += " " + ros.topics[topic].name
-      }
-    }
-  }
-  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 if (message.data === "STOPPED")
-  {
-    document.getElementById("recordButtonText").innerHTML = "Start"
-    document.getElementById("recordButton").className = "btn btn-primary"
-  }
-
-  console.log("bagNotifier: " +message.data)
-});
-
-
-
 ///////////////////////////////////////////////////////////////////////////////////
 // Functions
 ///////////////////////////////////////////////////////////////////////////////////