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Add ROS 2 action support (#645)
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10 files changed

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‎examples/fibonacci.html renamed to ‎examples/action_client.html

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‎examples/fibonacci_server.html renamed to ‎examples/action_server.html

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‎examples/ros2_action_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="../build/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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url : 'ws://localhost:9090'
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});
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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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// The ActionClient
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// ----------------
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var fibonacciClient = new ROSLIB.Action({
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ros : ros,
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name : '/fibonacci',
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actionType : 'action_tutorials_interfaces/Fibonacci'
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});
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// Send an action goal
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var goal = {order: 5};
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var goal_id = fibonacciClient.sendGoal(goal,
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function(result) {
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console.log('Result for action goal on ' + fibonacciClient.name + ': ' + result.result.sequence);
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},
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function(feedback) {
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console.log('Feedback for action on ' + fibonacciClient.name + ': ' + feedback.partial_sequence);
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},
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);
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</script>
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</head>
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<body>
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<h1>Fibonacci ActionClient Example</h1>
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<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
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console for the output.</p>
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<ol>
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<li><tt>ros2 launch rosbridge_server rosbridge_websocket_launch.xml</tt></li>
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<li><tt>ros2 run action_tutorials_py fibonacci_action_server</tt></li>
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</ol>
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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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</body>
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</html>

‎examples/ros2_action_server.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="../build/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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url : 'ws://localhost:9090'
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});
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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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console.log(error);
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});
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// The ActionServer
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// ----------------
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var fibonacciServer = new ROSLIB.Action({
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ros : ros,
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name : '/fibonacci',
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actionType : 'action_tutorials_interfaces/Fibonacci'
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});
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var actionCallback = function(goal, id) {
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console.log('Received action goal on ' + fibonacciServer.name + ', order: ' + goal.order);
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console.log('ID: ' + id);
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fibonacciSequence = [];
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fibonacciSequence.push(0);
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fibonacciSequence.push(1);
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// failure case
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if (goal.order > 47) {
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console.log('Aborting. Value will exceed maximum signed integer value.');
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fibonacciServer.setFailed(id);
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return;
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}
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// publish feedback
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for (var i = 1; i < goal.order; i++) {
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fibonacciSequence.push( fibonacciSequence[i] + fibonacciSequence[i-1] );
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console.log('Sending feedback: ' + fibonacciSequence);
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fibonacciServer.sendFeedback(id, { partial_sequence : fibonacciSequence });
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}
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// send result
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console.log('Sending result: ' + fibonacciSequence);
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fibonacciServer.setSucceeded(id, { sequence: fibonacciSequence });
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};
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var cancelCallback = function(id) {
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console.log('Canceled action with goal ID ' + id);
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};
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fibonacciServer.advertise(actionCallback, cancelCallback);
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</script>
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</head>
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<body>
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<h1>Fibonacci ActionServer Example</h1>
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<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
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console for the output.</p>
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<ol>
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<li><tt>ros2 launch rosbridge_server rosbridge_websocket_launch.xml</tt></li>
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<li><tt>refresh this page</tt></li>
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<li><tt>ros2 run action_tutorials_py fibonacci_action_client</tt>
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<br>or<br>
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<tt>ros2 action send_goal --feedback /fibonacci action_tutorials_interfaces/action/Fibonacci order:\ 20\ </tt>
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</li>
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</ol>
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</body>
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</html>

‎examples/ros2_simple.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="../build/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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// Publishing a Topic
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// ------------------
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// First, we create a Topic object with details of the topic's name and message type.
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var cmdVel = new ROSLIB.Topic({
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ros : ros,
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name : '/cmd_vel',
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messageType : 'geometry_msgs/Twist'
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});
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// Then we create the payload to be published. The object we pass in to ros.Message matches the
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// fields defined in the geometry_msgs/Twist.msg definition.
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var twist = new ROSLIB.Message({
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linear : {
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x : 0.1,
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y : 0.2,
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z : 0.3
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},
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angular : {
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x : -0.1,
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y : -0.2,
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z : -0.3
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}
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});
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// And finally, publish.
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cmdVel.publish(twist);
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// Subscribing to a Topic
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// ----------------------
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// Like when publishing a topic, we first create a Topic object with details of the topic's name
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// and message type. Note that we can call publish or subscribe on the same topic object.
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var listener = new ROSLIB.Topic({
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ros : ros,
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name : '/listener',
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messageType : 'std_msgs/String'
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});
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// Then we add a callback to be called every time a message is published on this topic.
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listener.subscribe(function(message) {
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console.log('Received message on ' + listener.name + ': ' + message.data);
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// If desired, we can unsubscribe from the topic as well.
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listener.unsubscribe();
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});
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// Calling a service
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// -----------------
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// First, we create a Service client with details of the service's name and service type.
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var addTwoIntsClient = 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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// Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the
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// fields defined in the rospy_tutorials AddTwoInts.srv file.
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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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// Finally, we call the /add_two_ints service and get back the results in the callback. The result
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// is a ROSLIB.ServiceResponse object.
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addTwoIntsClient.callService(request, function(result) {
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console.log('Result for service call on ' + addTwoIntsClient.name + ': ' + result.sum);
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});
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// Advertising a Service
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// ---------------------
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// The Service object does double duty for both calling and advertising services
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var setBoolServer = new ROSLIB.Service({
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ros : ros,
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name : '/set_bool',
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serviceType : 'std_srvs/SetBool'
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});
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// Use the advertise() method to indicate that we want to provide this service
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setBoolServer.advertise(function(request, response) {
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console.log('Received service request on ' + setBoolServer.name + ': ' + request.data);
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response['success'] = true;
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response['message'] = 'Set successfully';
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return true;
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});
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// Getting a param value
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// ---------------------
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// In ROS 2, params are set in the format 'node_name:param_name'
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var favoriteColor = new ROSLIB.Param({
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ros : ros,
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name : '/add_two_ints_server:use_sim_time'
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});
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favoriteColor.get(function(value) {
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console.log('The value of use_sim_time before setting is ' + value);
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});
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favoriteColor.set(true);
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favoriteColor.get(function(value) {
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console.log('The value of use_sim_time after setting is ' + value);
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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 roslib Example</h1>
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<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
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console for the output.</p>
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<ol>
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<li><tt>ros2 topic pub /listener std_msgs/msg/String "{ data: 'hello world' }" </tt></li>
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<li><tt>ros2 topic echo /cmd_vel</tt></li>
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<li><tt>ros2 run demo_nodes_py add_two_ints_server</tt></li>
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<li><tt>ros2 launch rosbridge_server rosbridge_websocket_launch.xml</tt></li>
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</ol>
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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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</body>
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</html>

‎examples/simple.html

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// And finally, publish.
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cmdVel.publish(twist);
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//Subscribing to a Topic
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//----------------------
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// Subscribing to a Topic
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// ----------------------
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// Like when publishing a topic, we first create a Topic object with details of the topic's name
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// and message type. Note that we can call publish or subscribe on the same topic object.
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name : 'max_vel_y'
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});
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//Then we set the value of the param, which is sent to the ROS Parameter Server.
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// Then we set the value of the param, which is sent to the ROS Parameter Server.
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maxVelX.set(0.8);
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maxVelX.get(function(value) {
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console.log('MAX VAL: ' + value);

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