roslib Updated for version 0.18.0

2026-08-20 12:00:53 +08:00 · 2016-02-19 13:41:10 +01:00
parent 95b7178e0e
commit 05aa3a75a4
2 changed files with 180 additions and 42 deletions
@@ -1,13 +1,106 @@
 /// <reference path="roslib.d.ts" />

-var ros = new ROSLIB.Ros({url: "http://localhost:9090"});
-
-ros.on('error', function(event) {
-	//do nothing
+var ros = new ROSLIB.Ros({
+	url: 'ws://localhost:9090'
 });

-var service = new ROSLIB.Service({
+ros.on('connection', function () {
+	console.log('Connected to websocket server.');
+});
+
+ros.on('error', function (error) {
+	console.log('Error connecting to websocket server: ', error);
+});
+
+ros.on('close', function () {
+	console.log('Connection to websocket server closed.');
+});
+
+// Publishing a Topic
+// ------------------
+
+var cmdVel = new ROSLIB.Topic({
 	ros: ros,
-	name: '/service_name',
-	serviceType: 'service_type'
+	name: '/cmd_vel',
+	messageType: 'geometry_msgs/Twist'
+});
+
+var twist = new ROSLIB.Message({
+	linear: {
+		x: 0.1,
+		y: 0.2,
+		z: 0.3
+	},
+	angular: {
+		x: -0.1,
+		y: -0.2,
+		z: -0.3
+	}
+});
+cmdVel.publish(twist);
+
+// Subscribing to a Topic
+// ----------------------
+
+var listener = new ROSLIB.Topic({
+	ros: ros,
+	name: '/listener',
+	messageType: 'std_msgs/String'
+});
+
+listener.subscribe(function (message:any) {
+	console.log('Received message on ' + listener.name + ': ' + message.data);
+	listener.unsubscribe();
+});
+
+// Calling a service
+// -----------------
+
+var addTwoIntsClient = new ROSLIB.Service({
+	ros: ros,
+	name: '/add_two_ints',
+	serviceType: 'rospy_tutorials/AddTwoInts'
+});
+
+var request = new ROSLIB.ServiceRequest({
+	a: 1,
+	b: 2
+});
+
+addTwoIntsClient.callService(request, function (result) {
+	console.log('Result for service call on '
+		+ addTwoIntsClient.name
+		+ ': '
+		+ result.sum);
+});
+
+// Providing a service
+// -------------------
+
+var addTwoInts = new ROSLIB.Service({
+	ros: ros,
+	name: '/add_two_ints',
+	serviceType: 'beginner_tutorials/AddTwoInts'
+});
+
+addTwoInts.advertise((req, resp) => {
+	resp.sum = req.a + req.b
+	return true;
+});
+
+// Getting and setting a param value
+// ---------------------------------
+
+ros.getParams(function (params:string[]) {
+	console.log(params);
+});
+
+var maxVelX = new ROSLIB.Param({
+	ros: ros,
+	name: 'max_vel_y'
+});
+
+maxVelX.set(0.8);
+maxVelX.get(function (value) {
+	console.log('MAX VAL: ' + value);
 });
@@ -55,22 +55,24 @@ declare module ROSLIB {
 		 * @param level - User level as a string given by the client.
 		 * @param end - End time of the client's session.
 		 */
-		authenticate(mac:string, client:string, dest:string, rand:string, t:number, level:string, end:string): void;
+		authenticate(mac:string, client:string, dest:string, rand:string, t:number, level:string, end:string):void;


 		/**
 		 * Sends the message over the WebSocket, but queues the message up if not yet
 		 * connected.
 		 */
-		callOnConnection(message:any): void;
+		callOnConnection(message:any):void;

 		/**
 		 * Retrieves list of topics in ROS as an array.
 		 *
 		 * @param callback function with params:
 		 *   * topics - Array of topic names
+		 * @param failedCallback - the callback function when the ros call failed (optional). Params:
+		 *   * error - the error message reported by ROS
 		 */
-		getTopics(callback:(topics:string[]) => void, failedCallback:(error:any)=>void): void;
+		getTopics(callback:(topics:string[]) => void, failedCallback?:(error:any)=>void):void;

 		/**
 		 * Retrieves Topics in ROS as an array as specific type
@@ -78,16 +80,20 @@ declare module ROSLIB {
 		 * @param topicType topic type to find:
 		 * @param callback function with params:
 		 *   * topics - Array of topic names
+		 * @param failedCallback - the callback function when the ros call failed (optional). Params:
+		 *   * error - the error message reported by ROS
 		 */
-		getTopicsForType(topicType:string, callback:(topics:string[]) => void, failedCallback:(error:any)=>void): void;
+		getTopicsForType(topicType:string, callback:(topics:string[]) => void, failedCallback?:(error:any)=>void):void;

 		/**
 		 * Retrieves list of active service names in ROS.
 		 *
 		 * @param callback - function with the following params:
 		 *   * services - array of service names
+		 * @param failedCallback - the callback function when the ros call failed (optional). Params:
+		 *   * error - the error message reported by ROS
 		 */
-		getServices(callback:(services:string[]) => void, failedCallback:(error:any)=>void): void;
+		getServices(callback:(services:string[]) => void, failedCallback?:(error:any)=>void):void;

 		/**
 		 * Retrieves list of services in ROS as an array as specific type
@@ -95,24 +101,30 @@ declare module ROSLIB {
 		 * @param serviceType service type to find:
 		 * @param callback function with params:
 		 *   * topics - Array of service names
+		 * @param failedCallback - the callback function when the ros call failed (optional). Params:
+		 *   * error - the error message reported by ROS
 		 */
-		getServicesForType(serviceType: string, callback:(services:string[]) => void, failedCallback:(error:any)=>void): void;
+		getServicesForType(serviceType:string, callback:(services:string[]) => void, failedCallback?:(error:any)=>void):void;

 		/**
 		 * Retrieves list of active node names in ROS.
 		 *
 		 * @param callback - function with the following params:
 		 *   * nodes - array of node names
+		 * @param failedCallback - the callback function when the ros call failed (optional). Params:
+		 *   * error - the error message reported by ROS
 		 */
-		getNodes(callback:(nodes:string[]) => void, failedCallback:(error:any)=>void): void;
+		getNodes(callback:(nodes:string[]) => void, failedCallback?:(error:any)=>void):void;

 		/**
 		 * Retrieves list of param names from the ROS Parameter Server.
 		 *
 		 * @param callback function with params:
 		 *  * params - array of param names.
+		 * @param failedCallback - the callback function when the ros call failed (optional). Params:
+		 *   * error - the error message reported by ROS
 		 */
-		getParams(callback:(params:string[]) => void, failedCallback:(error:any)=>void): void;
+		getParams(callback:(params:string[]) => void, failedCallback?:(error:any)=>void):void;

 		/**
 		 * Retrieves a type of ROS topic.
@@ -120,8 +132,10 @@ declare module ROSLIB {
 		 * @param topic name of the topic:
 		 * @param callback - function with params:
 		 *   * type - String of the topic type
+		 * @param failedCallback - the callback function when the ros call failed (optional). Params:
+		 *   * error - the error message reported by ROS
 		 */
-		getTopicType(topic: string, callback:(type:string) => void, failedCallback:(error:any)=>void): void;
+		getTopicType(topic:string, callback:(type:string) => void, failedCallback?:(error:any)=>void):void;

 		/**
 		 * Retrieves a type of ROS service.
@@ -129,8 +143,10 @@ declare module ROSLIB {
 		 * @param service name of service:
 		 * @param callback - function with params:
 		 *   * type - String of the service type
+		 * @param failedCallback - the callback function when the ros call failed (optional). Params:
+		 *   * error - the error message reported by ROS
 		 */
-		getServiceType(service: string, callback:(type:string) => void, failedCallback:(error:any)=>void): void;
+		getServiceType(service:string, callback:(type:string) => void, failedCallback?:(error:any)=>void):void;

 		/**
 		 * Retrieves a detail of ROS message.
@@ -138,15 +154,17 @@ declare module ROSLIB {
 		 * @param callback - function with params:
 		 *   * details - Array of the message detail
 		 * @param message - String of a topic type
+		 * @param failedCallback - the callback function when the ros call failed (optional). Params:
+		 *   * error - the error message reported by ROS
 		 */
-		getMessageDetails(message: Message, callback:(detail:any) => void, failedCallback:(error:any)=>void): void;
+		getMessageDetails(message:Message, callback:(detail:any) => void, failedCallback?:(error:any)=>void):void;

 		/**
 		 * Decode a typedefs into a dictionary like `rosmsg show foo/bar`
 		 *
 		 * @param defs - array of type_def dictionary
 		 */
-		decodeTypeDefs(defs: any): void;
+		decodeTypeDefs(defs:any):void;
 	}

 	export class Message {
@@ -179,19 +197,21 @@ declare module ROSLIB {
 		 * @param callback - function with the following params:
 		 *  * value - the value of the param from ROS.
 		 */
-		get(callback:(response:any) => void): void;
+		get(callback:(response:any) => void):void;

 		/**
 		 * Sets the value of the param in ROS.
 		 *
 		 * @param value - value to set param to.
+		 * @param callback - function with params:
+		 *   * response - the response from the service request
 		 */
-		set(value:any, callback:(response:any) => void): void;
+		set(value:any, callback?:(response:any) => void):void;

 		/**
 		 * Delete this parameter on the ROS server.
 		 */
-		delete(callback:(response:any) => void): void;
+		delete(callback:(response:any) => void):void;

 	}

@@ -212,6 +232,12 @@ declare module ROSLIB {
 			serviceType: string
 		});

+
+		// getter
+		public name:string;
+		// getter
+		public serviceType:string;
+
 		/**
 		 * Calls the service. Returns the service response in the callback.
 		 *
@@ -221,7 +247,21 @@ declare module ROSLIB {
 		 * @param failedCallback - the callback function when the service call failed (optional). Params:
 		 *   * error - the error message reported by ROS
 		 */
-		callService(request:ServiceRequest, callback:(response:any) => void, failedCallback?:(error:any) => void): void;
+		callService(request:ServiceRequest, callback:(response:any) => void, failedCallback?:(error:any) => void):void;
+
+		/**
+		 * Advertise this service and call the callback each time a client calls it.
+		 *
+		 * @param callback - function with the following params:
+		 *   * request - the service request data
+		 *   * response - the data which should be sent back to the caller
+		 */
+		advertise(callback:(request:any, response:any) => void):void;
+
+		/**
+		 * Unadvertise a previously advertised service
+		 */
+		unadvertise():void;
 	}

 	export class ServiceRequest {
@@ -231,7 +271,7 @@ declare module ROSLIB {
 		 * @constructor
 		 * @param values - object matching the fields defined in the .srv definition file
 		 */
-		constructor(values?: any);
+		constructor(values?:any);
 	}

 	export class ServiceResponse {
@@ -241,7 +281,7 @@ declare module ROSLIB {
 		 * @constructor
 		 * @param values - object matching the fields defined in the .srv definition file
 		 */
-		constructor(values?: any);
+		constructor(values?:any);
 	}

 	export class Topic {
@@ -263,17 +303,22 @@ declare module ROSLIB {
 		 *   * latch - latch the topic when publishing
 		 *   * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing).
 		 */
-		constructor(options: {
+		constructor(options:{
 			ros: Ros,
 			name: string,
 			messageType: string,
-			compression: string,
-			throttle_rate: number,
-			queue_size: number,
-			latch: number,
-			queue_length: number
+			compression?: string,
+			throttle_rate?: number,
+			queue_size?: number,
+			latch?: number,
+			queue_length?: number
 		});

+		// getter
+		public name:string;
+		// getter
+		public messageType:string;
+
 		/**
 		 * Every time a message is published for the given topic, the callback
 		 * will be called with the message object.
@@ -281,7 +326,7 @@ declare module ROSLIB {
 		 * @param callback - function with the following params:
 		 *   * message - the published message
 		 */
-		subscribe(callback: (message: Message) => void): void;
+		subscribe(callback:(message:Message) => void):void;

 		/**
 		 * Unregisters as a subscriber for the topic. Unsubscribing stop remove
@@ -292,24 +337,24 @@ declare module ROSLIB {
 		 *     * provided and other listeners are registered the topic won't
 		 *     * unsubscribe, just stop emitting to the passed listener
 		 */
-		unsubscribe(callback?: () => void): void;
+		unsubscribe(callback?:() => void):void;

 		/**
 		 * Registers as a publisher for the topic.
 		 */
-		advertise(): void;
+		advertise():void;

 		/**
 		 * Unregisters as a publisher for the topic.
 		 */
-		unadvertise(): void;
+		unadvertise():void;

 		/**
 		 * Publish the message.
 		 *
 		 * @param message - A ROSLIB.Message object.
 		 */
-		publish(message: Message): void;
+		publish(message:Message):void;
 	}

 	class ActionClient {
@@ -329,7 +374,7 @@ declare module ROSLIB {
 		 *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
 		 *   * timeout - the timeout length when connecting to the action server
 		 */
-		constructor(options: {
+		constructor(options:{
 			ros: Ros,
 			serverName: string,
 			actionName: string,
@@ -339,7 +384,7 @@ declare module ROSLIB {
 		/**
 		 * Cancel all goals associated with this ActionClient.
 		 */
-		cancel(): void;
+		cancel():void;
 	}

 	class Goal {
@@ -350,11 +395,11 @@ declare module ROSLIB {
 		 *  * 'timeout' - if a timeout occurred while sending a goal
 		 *
 		 *  @constructor
-		 *  @param object with following keys:
+		 *  @param options with following keys:
 		 *   * actionClient - the ROSLIB.ActionClient to use with this goal
 		 *   * goalMessage - The JSON object containing the goal for the action server
 		 */
-		constructor(options: {
+		constructor(options:{
 			actionClient: ActionClient,
 			goalMessage: any
 		});
@@ -364,12 +409,12 @@ declare module ROSLIB {
 		 *
 		 * @param timeout (optional) - a timeout length for the goal's result
 		 */
-		send(timeout?: number): void;
+		send(timeout?:number):void;

 		/**
 		 * Cancel the current goal.
 		 */
-		cancel(): void;
+		cancel():void;
 	}
 }