116 lines
3.4 KiB
JavaScript
116 lines
3.4 KiB
JavaScript
var ros = new ROSLIB.Ros();
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ros.topics = [];
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ros.nodes = [];
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ros.connectioninfo = ['ws://', '192', '168', '0', '100', '9090'];
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// ros.connectionName = 'ws://localhost:9090';
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ros.connectionName = 'ws://192.168.0.100:9090';
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// If there is an error on the backend, an 'error' emit will be emitted.
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ros.on('error', function(error) {
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document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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document.getElementById("ConnectionIPLabel").innerHTML = 'No connection';
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document.getElementById("ConnectionButton").className = "btn btn-warning"
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document.getElementById("rosbridgeconnection_badge").innerHTML = 'No connection';
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document.getElementById("ROSNodes").innerHTML = "";
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rosbridgeconnection_badge
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console.log(error);192
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});
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// Find out exactly when we made a connection.
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ros.on('connection', function() {
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console.log('Connection made!');
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document.getElementById("ConnectionIPForm").className = "form-group has-success has-feedback";
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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document.getElementById("ConnectionIPLabel").innerHTML = 'Connection made at:';
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document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connected';
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document.getElementById("ConnectionButton").className = "btn btn-success"
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ros.nodes = [];
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ros.topics = [];
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});
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ros.on('close', function() {
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console.log('Connection closed.');
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document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
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document.getElementById("ConnectionIPLabel").innerHTML = 'Connection closed';
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document.getElementById("ConnectionButton").className = "btn btn-warning"
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document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connection closed';
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ros.nodes = [];
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ros.topics = [];
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});
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// Create a connection to the rosbridge WebSocket server.
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ros.connect(ros.connectionName);
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// attept to connect to the ros master from the IP given orgrab it from the form
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ros.attemptConnection = function(ipAddress)
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{
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if( typeof ipAddress !== "undefined")
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{
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ros.connectionName = ipAddress;
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}
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else
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{
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ros.connectionName = document.getElementById("ConnectionIPInput").value
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}
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console.log('Connection = ' + ros.connectionName);
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ros.connect(ros.connectionName);
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}
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function getTopics() {
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var topicsClient = new ROSLIB.Service({
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ros : ros,
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name : '/rosapi/topics',
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serviceType : '/rosapi/Topics'
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});
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var request = new ROSLIB.ServiceRequest();
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// ros.topics = [];
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topicsClient.callService(request, function(result) {
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ros.topics = result.topics;
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});
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return ros.topics;
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};
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function getNodes() {
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var topicsClient = new ROSLIB.Service({
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ros : ros,
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name : '/rosapi/nodes',
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serviceType : '/rosapi/nodes'
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});
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var request = new ROSLIB.ServiceRequest();
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// ros.nodes = [];
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topicsClient.callService(request, function(result) {
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ros.nodes = result.nodes;
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});
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return ros.nodes;
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};
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function getTime() {
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var topicsClient = new ROSLIB.Service({
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ros : ros,
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name : '/rosapi/get_time',
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serviceType : '/rosapi/GetTime'
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});
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var request = new ROSLIB.ServiceRequest({});
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topicsClient.callService(request, function(result) {
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console.log("Getting Time...");
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console.log(result.time.secs);
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});
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}; |