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‎.gitignore

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# all "hidden" files
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.*
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# node and javascript stuff
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node_modules/
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npm-debug.log
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coverage

‎MarkerArrayClient.js

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/**
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* @author Russell Toris - [email protected]
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* @author Nils Berg - [email protected]
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*/
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var ROSLIB = require('roslib');
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var ROS3D = require('ros3d');
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var EventEmitter2 = require('eventemitter2');
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/**
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* A MarkerArray client that listens to a given topic.
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*
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* Emits the following events:
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*
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* * 'change' - there was an update or change in the MarkerArray
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*
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* @constructor
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* @param options - object with following keys:
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*
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* * ros - the ROSLIB.Ros connection handle
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* * topic - the marker topic to listen to
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* * tfClient - the TF client handle to use
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* * canvas - ...
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* * path (optional) - the base path to any meshes that will be loaded
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*/
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var MarkerArrayClient = function(options) {
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options = options || {};
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this.ros = options.ros;
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this.topicName = options.topic;
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this.tfClient = options.tfClient;
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this.canvas = options.canvas;
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this.path = options.path || '/';
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// Markers that are displayed (Map ns+id--Marker)
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this.markers = {};
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this.rosTopic = undefined;
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this.subscribe();
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};
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MarkerArrayClient.prototype.__proto__ = EventEmitter2.prototype;
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MarkerArrayClient.prototype.subscribe = function(){
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this.unsubscribe();
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// subscribe to MarkerArray topic
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this.rosTopic = new ROSLIB.Topic({
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ros : this.ros,
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name : this.topicName,
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messageType : 'visualization_msgs/MarkerArray',
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compression : 'png'
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});
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this.rosTopic.subscribe(this.processMessage.bind(this));
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};
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MarkerArrayClient.prototype.processMessage = function(arrayMessage){
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var that = this;
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arrayMessage.markers.forEach(function(message) {
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var markerName = message.ns + message.id;
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if(message.action === 0) {
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var updated = false;
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if(markerName in this.markers) { // "MODIFY"
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var markerItem = that.markers[markerName];
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var marker = markerItem[0];
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var node = markerItem[1];
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updated = marker.update(message);
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if(!updated) { // "REMOVE"
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node.unsubscribeTf();
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that.canvas.removeMarker(marker,node);
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delete that.markers[markerName];
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}
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}
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if(!updated) { // "ADD"
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var newMarker = new ROS3D.Marker({
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message : message,
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path : this.path,
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});
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newMarker.isSelectable = true; // XXX
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newMarker.isSceneOrtho = false; // XXX
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newMarker.id = message.id;
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newMarker.ns = message.ns;
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newMarker.frame_id = message.header.frame_id; // XXX
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newMarker.marker_type = message.type; // XXX
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var newNode = new ROS3D.SceneNode({
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frameID : message.header.frame_id,
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tfClient : this.tfClient,
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object : newMarker
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});
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this.markers[markerName] = [newMarker,newNode];
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that.canvas.addMarker(newMarker,newNode);
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}
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}
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else if(message.action === 1) { // "DEPRECATED"
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console.warn('Received marker message with deprecated action identifier "1"');
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}
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else if(message.action === 2 && markerName in this.markers) { // "DELETE"
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var markerItem = that.markers[markerName];
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var marker = markerItem[0];
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var node = markerItem[1];
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node.unsubscribeTf();
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canvas.removeMarker(marker,node);
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delete that.markers[markerName];
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}
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else if(message.action === 3) { // "DELETE ALL"
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for (var markerItem in that.markers){
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var marker = markerItem[0];
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var node = markerItem[1];
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node.unsubscribeTf();
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canvas.removeMarker(marker,node);
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}
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that.markers = {};
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}
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else {
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console.warn('Received marker message with unknown action identifier "'+message.action+'"');
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}
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}.bind(this));
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this.emit('change');
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};
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MarkerArrayClient.prototype.getObjectMarker = function(objectName){
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x = this.markers[objectName]
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if(x) {
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return x[0];
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}
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else {
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return undefined;
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}
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}
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MarkerArrayClient.prototype.unsubscribe = function(){
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if(this.rosTopic){
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this.rosTopic.unsubscribe();
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}
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};
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module.exports = MarkerArrayClient;

‎README.md

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# @openease/ros-client
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[![npm (scoped)](https://img.shields.io/npm/v/openease/ros-client.svg)](https://www.npmjs.com/package/openease/ros-client)
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[![Build Status](https://travis-ci.org/ease-crc/ros-js-client.svg?branch=master)](https://travis-ci.org/ease-crc/ros-js-client)

‎ROSClient.js

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var ROSLIB = require('roslib');
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/**
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* Establishes connection to a ROS master via websocket.
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**/
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module.exports = function(options){
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var that = this;
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// Object that holds user information
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this.flask_user = options.flask_user;
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// ROS handle
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this.ros = undefined;
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// URL for ROS server
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var rosURL = options.ros_url || 'ws://localhost:9090';
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// Use rosauth?
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var authentication = options.authentication === '' ? true : options.authentication === 'True';
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// URL for rosauth token retrieval
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var authURL = options.auth_url || '/wsauth/v1.0/by_session';
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// global rosprolog handle
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var prolog;
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// true iff connection to ROS master is established
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this.isConnected = false;
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// true iff registerNodes was called before
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this.isRegistered = false;
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// true after registerNodes has completed
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this.nodesRegistered = false;
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this.connect = function (on_connection,on_error,on_close) {
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if(that.ros) return;
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that.ros = new ROSLIB.Ros({url : rosURL});
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that.ros.on('connection', function() {
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that.isConnected = true;
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console.log('Connected to websocket server.');
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if (authentication) {
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// Acquire auth token for current user and authenticate, then call registerNodes
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that.authenticate(authURL, function() {
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that.on_connection(on_connection);
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});
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} else {
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// No authentication requested, call registerNodes directly
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that.on_connection(on_connection);
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}
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});
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that.ros.on('close', function() {
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console.log('Connection was closed.');
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that.ros = undefined;
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that.isRegistered = false;
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if(on_close) on_close();
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setTimeout(that.connect, 500);
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});
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that.ros.on('error', function(error) {
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console.log('Error connecting to websocket server: ', error);
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if(that.ros) that.ros.close();
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that.ros = undefined;
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that.isRegistered = false;
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if(on_close) on_error(error);
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setTimeout(that.connect, 500);
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});
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};
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this.authenticate = function (authurl, then) {
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console.log("Acquiring auth token");
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// Call wsauth api to acquire auth token by existing user login session
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$.ajax({
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url: authurl,
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type: "GET",
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contentType: "application/json",
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dataType: "json"
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}).done( function (request) {
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if(!that.ros) {
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console.warn("Lost connection to ROS master.");
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return;
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}
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console.log("Sending auth token");
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that.ros.authenticate(request.mac,
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request.client,
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request.dest,
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request.rand,
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request.t,
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request.level,
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request.end);
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// If a callback function was specified, call it in the context of Knowrob class (that)
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if(then) {
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then.call(that);
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}
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});
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};
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function containerRefresh() {
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$.ajax({
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url: '/api/v1.0/refresh_by_session',
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type: "GET",
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contentType: "application/json",
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dataType: "json"
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});
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};
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this.on_connection = function (on_connection) {
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if(that.isRegistered) return;
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that.isRegistered = true;
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if(on_connection) on_connection(that.ros);
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//
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setInterval(containerRefresh, 570000);
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containerRefresh();
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// Setup publisher that sends a dummy message in order to keep alive the socket connection
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{
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var interval = options.interval || 30000;
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// The topic dedicated to keep alive messages
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var keepAliveTopic = new ROSLIB.Topic({ ros : that.ros, name : '/keep_alive', messageType : 'std_msgs/Bool' });
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// A dummy message for the topic
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var keepAliveMsg = new ROSLIB.Message({ data : true });
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// Function that publishes the keep alive message
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var ping = function() { keepAliveTopic.publish(keepAliveMsg); };
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// Call ping at regular intervals.
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setInterval(ping, interval);
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};
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that.nodesRegistered = true;
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};
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};

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