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synced 2026-09-07 16:30:12 +08:00
Extended definition for roslib to match library functions
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Stefan Profanter
Vendored
+356
-5
@@ -3,22 +3,373 @@
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// Definitions by: Stefan Profanter <https://github.com/Pro/>
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// Definitions: https://github.com/borisyankov/DefinitelyTyped
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/* ----------------------------------
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NOTE: This typescript definition is not yet complete. I should be extended if definitions are missing.
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---------------------------------- */
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declare module ROSLIB {
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export class Ros {
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constructor(data: {
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url: string
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/**
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* Manages connection to the server and all interactions with ROS.
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*
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* Emits the following events:
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* * 'error' - there was an error with ROS
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* * 'connection' - connected to the WebSocket server
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* * 'close' - disconnected to the WebSocket server
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* * <topicName> - a message came from rosbridge with the given topic name
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* * <serviceID> - a service response came from rosbridge with the given ID
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*
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* @constructor
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* @param options - possible keys include:
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* * url (optional) - the WebSocket URL for rosbridge (can be specified later with `connect`)
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*/
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constructor(options:{
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url?: string
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});
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on(eventName: string, callback: (event: any) => void) : void;
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connect(url: string) : void;
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on(eventName:string, callback:(event:any) => void):void;
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/**
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* Connect to the specified WebSocket.
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*
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* @param url - WebSocket URL for Rosbridge
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*/
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connect(url:string):void;
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/**
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* Disconnect from the WebSocket server.
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*/
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close():void;
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/**
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* Sends an authorization request to the server.
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*
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* @param mac - MAC (hash) string given by the trusted source.
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* @param client - IP of the client.
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* @param dest - IP of the destination.
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* @param rand - Random string given by the trusted source.
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* @param t - Time of the authorization request.
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* @param level - User level as a string given by the client.
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* @param end - End time of the client's session.
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*/
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authenticate(mac:string, client:string, dest:string, rand:string, t:number, level:string, end:string): void;
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/**
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* Sends the message over the WebSocket, but queues the message up if not yet
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* connected.
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*/
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callOnConnection(message:any): void;
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/**
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* Retrieves list of topics in ROS as an array.
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*
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* @param callback function with params:
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* * topics - Array of topic names
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*/
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getTopics(callback:(topics:string[]) => void, failedCallback:(error:any)=>void): void;
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/**
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* Retrieves Topics in ROS as an array as specific type
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*
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* @param topicType topic type to find:
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* @param callback function with params:
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* * topics - Array of topic names
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*/
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getTopicsForType(topicType:string, callback:(topics:string[]) => void, failedCallback:(error:any)=>void): void;
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/**
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* Retrieves list of active service names in ROS.
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*
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* @param callback - function with the following params:
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* * services - array of service names
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*/
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getServices(callback:(services:string[]) => void, failedCallback:(error:any)=>void): void;
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/**
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* Retrieves list of services in ROS as an array as specific type
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*
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* @param serviceType service type to find:
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* @param callback function with params:
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* * topics - Array of service names
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*/
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getServicesForType(serviceType: string, callback:(services:string[]) => void, failedCallback:(error:any)=>void): void;
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/**
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* Retrieves list of active node names in ROS.
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*
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* @param callback - function with the following params:
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* * nodes - array of node names
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*/
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getNodes(callback:(nodes:string[]) => void, failedCallback:(error:any)=>void): void;
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/**
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* Retrieves list of param names from the ROS Parameter Server.
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*
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* @param callback function with params:
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* * params - array of param names.
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*/
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getParams(callback:(params:string[]) => void, failedCallback:(error:any)=>void): void;
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/**
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* Retrieves a type of ROS topic.
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*
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* @param topic name of the topic:
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* @param callback - function with params:
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* * type - String of the topic type
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*/
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getTopicType(topic: string, callback:(type:string) => void, failedCallback:(error:any)=>void): void;
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/**
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* Retrieves a type of ROS service.
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*
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* @param service name of service:
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* @param callback - function with params:
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* * type - String of the service type
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*/
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getServiceType(service: string, callback:(type:string) => void, failedCallback:(error:any)=>void): void;
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/**
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* Retrieves a detail of ROS message.
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*
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* @param callback - function with params:
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* * details - Array of the message detail
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* @param message - String of a topic type
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*/
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getMessageDetails(message: Message, callback:(detail:any) => void, failedCallback:(error:any)=>void): void;
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/**
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* Decode a typedefs into a dictionary like `rosmsg show foo/bar`
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*
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* @param defs - array of type_def dictionary
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*/
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decodeTypeDefs(defs: any): void;
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}
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export class Message {
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/**
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* Message objects are used for publishing and subscribing to and from topics.
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*
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* @constructor
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* @param values - object matching the fields defined in the .msg definition file
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*/
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constructor(values:any);
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}
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export class Param {
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/**
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* A ROS parameter.
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*
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* @constructor
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* @param options - possible keys include:
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* * ros - the ROSLIB.Ros connection handle
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* * name - the param name, like max_vel_x
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*/
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constructor(options:{
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ros: Ros,
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name: string
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});
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/**
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* Fetches the value of the param.
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*
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* @param callback - function with the following params:
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* * value - the value of the param from ROS.
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*/
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get(callback:(response:any) => void): void;
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/**
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* Sets the value of the param in ROS.
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*
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* @param value - value to set param to.
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*/
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set(value:any, callback:(response:any) => void): void;
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/**
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* Delete this parameter on the ROS server.
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*/
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delete(callback:(response:any) => void): void;
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}
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export class Service {
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constructor(data: {
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/**
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* A ROS service client.
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*
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* @constructor
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* @params options - possible keys include:
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* * ros - the ROSLIB.Ros connection handle
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* * name - the service name, like /add_two_ints
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* * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
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*/
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constructor(data:{
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ros: Ros,
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name: string,
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serviceType: string
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});
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/**
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* Calls the service. Returns the service response in the callback.
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*
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* @param request - the ROSLIB.ServiceRequest to send
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* @param callback - function with params:
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* * response - the response from the service request
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* @param failedCallback - the callback function when the service call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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callService(request:ServiceRequest, callback:(response:any) => void, failedCallback?:(error:any) => void): void;
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}
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export class ServiceRequest {
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/**
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* A ServiceRequest is passed into the service call.
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*
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* @constructor
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* @param values - object matching the fields defined in the .srv definition file
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*/
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constructor(values: any);
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}
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export class ServiceResponse {
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/**
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* A ServiceResponse is returned from the service call.
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*
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* @constructor
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* @param values - object matching the fields defined in the .srv definition file
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*/
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constructor(values: any);
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}
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export class Topic {
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/**
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* Publish and/or subscribe to a topic in ROS.
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*
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* Emits the following events:
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* * 'warning' - if there are any warning during the Topic creation
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* * 'message' - the message data from rosbridge
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*
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* @constructor
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* @param options - object with following keys:
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* * ros - the ROSLIB.Ros connection handle
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* * name - the topic name, like /cmd_vel
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* * messageType - the message type, like 'std_msgs/String'
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* * compression - the type of compression to use, like 'png'
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* * throttle_rate - the rate (in ms in between messages) at which to throttle the topics
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* * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100)
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* * latch - latch the topic when publishing
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* * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing).
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*/
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constructor(options: {
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ros: Ros,
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name: string,
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messageType: string,
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compression: string,
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throttle_rate: number,
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queue_size: number,
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latch: number,
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queue_length: number
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});
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/**
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* Every time a message is published for the given topic, the callback
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* will be called with the message object.
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*
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* @param callback - function with the following params:
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* * message - the published message
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*/
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subscribe(callback: (message: Message) => void): void;
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/**
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* Unregisters as a subscriber for the topic. Unsubscribing stop remove
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* all subscribe callbacks. To remove a call back, you must explicitly
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* pass the callback function in.
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*
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* @param callback - the optional callback to unregister, if
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* * provided and other listeners are registered the topic won't
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* * unsubscribe, just stop emitting to the passed listener
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*/
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unsubscribe(callback?: () => void): void;
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/**
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* Registers as a publisher for the topic.
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*/
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advertise(): void;
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/**
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* Unregisters as a publisher for the topic.
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*/
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unadvertise(): void;
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/**
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* Publish the message.
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*
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* @param message - A ROSLIB.Message object.
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*/
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publish(message: Message): void;
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}
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class ActionClient {
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/**
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* An actionlib action client.
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*
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* Emits the following events:
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* * 'timeout' - if a timeout occurred while sending a goal
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* * 'status' - the status messages received from the action server
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* * 'feedback' - the feedback messages received from the action server
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* * 'result' - the result returned from the action server
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*
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* @constructor
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* @param options - object with following keys:
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* * ros - the ROSLIB.Ros connection handle
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* * serverName - the action server name, like /fibonacci
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* * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
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* * timeout - the timeout length when connecting to the action server
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*/
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constructor(options: {
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ros: Ros,
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serverName: string,
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actionName: string,
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timeout: number
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});
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/**
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* Cancel all goals associated with this ActionClient.
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*/
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cancel(): void;
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}
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class Goal {
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/**
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* An actionlib goal goal is associated with an action server.
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*
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* Emits the following events:
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* * 'timeout' - if a timeout occurred while sending a goal
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*
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* @constructor
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* @param object with following keys:
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* * actionClient - the ROSLIB.ActionClient to use with this goal
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* * goalMessage - The JSON object containing the goal for the action server
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*/
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constructor(options: {
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actionClient: ActionClient,
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goalMessage: any
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});
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/**
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* Send the goal to the action server.
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*
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* @param timeout (optional) - a timeout length for the goal's result
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*/
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send(timeout?: number): void;
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/**
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* Cancel the current goal.
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*/
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cancel(): void;
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}
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}
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