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Minggang Wang
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Initiate the project
This patch implements the basic framework of the ros2brige, which adopt the rosbridge v2.0 protocol (https://github.com/RobotWebTools/rosbridge_suite/blob/develop/ROSBRIDGE_PROTOCOL.md), so this bridge designed for ROS2 is compatible with the current roslibjs library. Currently all the ROS operations(op) are supported, you can create a publisher/subscription/client/service, and there are examples already. To try the examples, please run: node index.js node examples/index.js Then open the browser, input the URL like: http://localhost:3000/html/client.html One known issue is that when the websocket connection is closed, the resources will not get released which leads an error.
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‎.eslintrc‎

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env:
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node: true
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es6: true
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globals:
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every: true
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after: true
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constantly: true
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rules:
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camelcase: [2, {properties: "always"}]
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comma-dangle: 0
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max-depth: [1, 6]
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semi: [2, "always"]
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keyword-spacing: [2, {before: true, after: true}]
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space-before-blocks: [2, "always"]
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space-before-function-paren: [1, "never"]
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space-in-parens: [2, "never"]
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strict: [2, "global"]
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valid-jsdoc: 2
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yoda: [2, "never"]

‎.gitignore‎

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*~
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.DS_Store
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.*.sw?
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*.gypcmd
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*.mk
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*.pyc
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*.tar.gz
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*.log
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build
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cscope.*
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gen
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node_modules
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npm-debug.log
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tags
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cpplint.py
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generated

‎LICENSE‎

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‎examples/html/client.html‎

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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8" />
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<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
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<script src="https://static.robotwebtools.org/roslibjs/0.19.0/roslib.js"></script>
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<script>
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// Connecting to ROS
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// -----------------
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var ros = new ROSLIB.Ros();
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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('connecting').style.display = 'none';
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document.getElementById('connected').style.display = 'none';
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document.getElementById('closed').style.display = 'none';
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document.getElementById('error').style.display = 'inline';
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console.log(error);
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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('connecting').style.display = 'none';
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document.getElementById('error').style.display = 'none';
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document.getElementById('closed').style.display = 'none';
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document.getElementById('connected').style.display = 'inline';
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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('connecting').style.display = 'none';
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document.getElementById('connected').style.display = 'none';
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document.getElementById('closed').style.display = 'inline';
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});
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// Create a connection to the rosbridge WebSocket server.
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ros.connect('ws://localhost:9090');
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// Create a Service client with details of the service's name and service type.
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var addTwoInts = new ROSLIB.Service({
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ros : ros,
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name : '/add_two_ints',
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serviceType : 'example_interfaces/AddTwoInts'
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});
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var request = new ROSLIB.ServiceRequest({
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a : 1,
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b : 2
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});
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var args = {request: request, type: 'example_interfaces/AddTwoInts'};
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// Send the request
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addTwoInts.callService(args, function(result) {
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document.getElementById("sum").innerText = result.sum;
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console.log('Result for service call on ' + addTwoInts.name + ': ' + result.sum);
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});
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</script>
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</head>
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<body>
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<h1>Simple Clinet Example</h1>
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<p>This example will create a client to request a service named "add_two_ints" to calculate the sum of two values.</p>
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<div id="statusIndicator">
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<p id="connecting">
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Connecting to rosbridge...
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</p>
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<p id="connected" style="color:#00D600; display:none">
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Connected
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</p>
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<p id="error" style="color:#FF0000; display:none">
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Error in the backend!
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</p>
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<p id="closed" style="display:none">
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Connection closed.
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</p>
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</div>
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<p>
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<div>
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<b>1 + 2 = </b>
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<span id="sum"></span>
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</div>
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</p>
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</body>
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</html>

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