-
-},{}],2:[function(require,module,exports){
-/*
-object-assign
-(c) Sindre Sorhus
-@license MIT
-*/
-
-'use strict';
-/* eslint-disable no-unused-vars */
-var getOwnPropertySymbols = Object.getOwnPropertySymbols;
-var hasOwnProperty = Object.prototype.hasOwnProperty;
-var propIsEnumerable = Object.prototype.propertyIsEnumerable;
-
-function toObject(val) {
- if (val === null || val === undefined) {
- throw new TypeError('Object.assign cannot be called with null or undefined');
- }
-
- return Object(val);
-}
-
-function shouldUseNative() {
- try {
- if (!Object.assign) {
- return false;
- }
-
- // Detect buggy property enumeration order in older V8 versions.
-
- // https://bugs.chromium.org/p/v8/issues/detail?id=4118
- var test1 = new String('abc'); // eslint-disable-line no-new-wrappers
- test1[5] = 'de';
- if (Object.getOwnPropertyNames(test1)[0] === '5') {
- return false;
- }
-
- // https://bugs.chromium.org/p/v8/issues/detail?id=3056
- var test2 = {};
- for (var i = 0; i < 10; i++) {
- test2['_' + String.fromCharCode(i)] = i;
- }
- var order2 = Object.getOwnPropertyNames(test2).map(function (n) {
- return test2[n];
- });
- if (order2.join('') !== '0123456789') {
- return false;
- }
-
- // https://bugs.chromium.org/p/v8/issues/detail?id=3056
- var test3 = {};
- 'abcdefghijklmnopqrst'.split('').forEach(function (letter) {
- test3[letter] = letter;
- });
- if (Object.keys(Object.assign({}, test3)).join('') !==
- 'abcdefghijklmnopqrst') {
- return false;
- }
-
- return true;
- } catch (err) {
- // We don't expect any of the above to throw, but better to be safe.
- return false;
- }
-}
-
-module.exports = shouldUseNative() ? Object.assign : function (target, source) {
- var from;
- var to = toObject(target);
- var symbols;
-
- for (var s = 1; s < arguments.length; s++) {
- from = Object(arguments[s]);
-
- for (var key in from) {
- if (hasOwnProperty.call(from, key)) {
- to[key] = from[key];
- }
- }
-
- if (getOwnPropertySymbols) {
- symbols = getOwnPropertySymbols(from);
- for (var i = 0; i < symbols.length; i++) {
- if (propIsEnumerable.call(from, symbols[i])) {
- to[symbols[i]] = from[symbols[i]];
- }
- }
- }
- }
-
- return to;
-};
-
-},{}],3:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-/**
- * If you use roslib in a browser, all the classes will be exported to a global variable called ROSLIB.
- *
- * If you use nodejs, this is the variable you get when you require('roslib')
- */
-var ROSLIB = this.ROSLIB || {
- REVISION : '0.20.0'
-};
-
-var assign = require('object-assign');
-
-// Add core components
-assign(ROSLIB, require('./core'));
-
-assign(ROSLIB, require('./actionlib'));
-
-assign(ROSLIB, require('./math'));
-
-assign(ROSLIB, require('./tf'));
-
-assign(ROSLIB, require('./urdf'));
-
-module.exports = ROSLIB;
-
-},{"./actionlib":9,"./core":18,"./math":23,"./tf":26,"./urdf":38,"object-assign":2}],4:[function(require,module,exports){
-(function (global){
-global.ROSLIB = require('./RosLib');
-}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{"./RosLib":3}],5:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var Topic = require('../core/Topic');
-var Message = require('../core/Message');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * An actionlib action client.
- *
- * Emits the following events:
- * * 'timeout' - if a timeout occurred while sending a goal
- * * 'status' - the status messages received from the action server
- * * 'feedback' - the feedback messages received from the action server
- * * 'result' - the result returned from the action server
- *
- * @constructor
- * @param options - object with following keys:
- * * ros - the ROSLIB.Ros connection handle
- * * serverName - the action server name, like /fibonacci
- * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
- * * timeout - the timeout length when connecting to the action server
- */
-function ActionClient(options) {
- var that = this;
- options = options || {};
- this.ros = options.ros;
- this.serverName = options.serverName;
- this.actionName = options.actionName;
- this.timeout = options.timeout;
- this.omitFeedback = options.omitFeedback;
- this.omitStatus = options.omitStatus;
- this.omitResult = options.omitResult;
- this.goals = {};
-
- // flag to check if a status has been received
- var receivedStatus = false;
-
- // create the topics associated with actionlib
- this.feedbackListener = new Topic({
- ros : this.ros,
- name : this.serverName + '/feedback',
- messageType : this.actionName + 'Feedback'
- });
-
- this.statusListener = new Topic({
- ros : this.ros,
- name : this.serverName + '/status',
- messageType : 'actionlib_msgs/GoalStatusArray'
- });
-
- this.resultListener = new Topic({
- ros : this.ros,
- name : this.serverName + '/result',
- messageType : this.actionName + 'Result'
- });
-
- this.goalTopic = new Topic({
- ros : this.ros,
- name : this.serverName + '/goal',
- messageType : this.actionName + 'Goal'
- });
-
- this.cancelTopic = new Topic({
- ros : this.ros,
- name : this.serverName + '/cancel',
- messageType : 'actionlib_msgs/GoalID'
- });
-
- // advertise the goal and cancel topics
- this.goalTopic.advertise();
- this.cancelTopic.advertise();
-
- // subscribe to the status topic
- if (!this.omitStatus) {
- this.statusListener.subscribe(function(statusMessage) {
- receivedStatus = true;
- statusMessage.status_list.forEach(function(status) {
- var goal = that.goals[status.goal_id.id];
- if (goal) {
- goal.emit('status', status);
- }
- });
- });
- }
-
- // subscribe the the feedback topic
- if (!this.omitFeedback) {
- this.feedbackListener.subscribe(function(feedbackMessage) {
- var goal = that.goals[feedbackMessage.status.goal_id.id];
- if (goal) {
- goal.emit('status', feedbackMessage.status);
- goal.emit('feedback', feedbackMessage.feedback);
- }
- });
- }
-
- // subscribe to the result topic
- if (!this.omitResult) {
- this.resultListener.subscribe(function(resultMessage) {
- var goal = that.goals[resultMessage.status.goal_id.id];
-
- if (goal) {
- goal.emit('status', resultMessage.status);
- goal.emit('result', resultMessage.result);
- }
- });
- }
-
- // If timeout specified, emit a 'timeout' event if the action server does not respond
- if (this.timeout) {
- setTimeout(function() {
- if (!receivedStatus) {
- that.emit('timeout');
- }
- }, this.timeout);
- }
-}
-
-ActionClient.prototype.__proto__ = EventEmitter2.prototype;
-
-/**
- * Cancel all goals associated with this ActionClient.
- */
-ActionClient.prototype.cancel = function() {
- var cancelMessage = new Message();
- this.cancelTopic.publish(cancelMessage);
-};
-
-/**
- * Unsubscribe and unadvertise all topics associated with this ActionClient.
- */
-ActionClient.prototype.dispose = function() {
- this.goalTopic.unadvertise();
- this.cancelTopic.unadvertise();
- if (!this.omitStatus) {this.statusListener.unsubscribe();}
- if (!this.omitFeedback) {this.feedbackListener.unsubscribe();}
- if (!this.omitResult) {this.resultListener.unsubscribe();}
-};
-
-module.exports = ActionClient;
-
-},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],6:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Justin Young - justin@oodar.com.au
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var Topic = require('../core/Topic');
-var Message = require('../core/Message');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * An actionlib action listener
- *
- * Emits the following events:
- * * 'status' - the status messages received from the action server
- * * 'feedback' - the feedback messages received from the action server
- * * 'result' - the result returned from the action server
- *
- * @constructor
- * @param options - object with following keys:
- * * ros - the ROSLIB.Ros connection handle
- * * serverName - the action server name, like /fibonacci
- * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
- */
-function ActionListener(options) {
- var that = this;
- options = options || {};
- this.ros = options.ros;
- this.serverName = options.serverName;
- this.actionName = options.actionName;
- this.timeout = options.timeout;
- this.omitFeedback = options.omitFeedback;
- this.omitStatus = options.omitStatus;
- this.omitResult = options.omitResult;
-
-
- // create the topics associated with actionlib
- var goalListener = new Topic({
- ros : this.ros,
- name : this.serverName + '/goal',
- messageType : this.actionName + 'Goal'
- });
-
- var feedbackListener = new Topic({
- ros : this.ros,
- name : this.serverName + '/feedback',
- messageType : this.actionName + 'Feedback'
- });
-
- var statusListener = new Topic({
- ros : this.ros,
- name : this.serverName + '/status',
- messageType : 'actionlib_msgs/GoalStatusArray'
- });
-
- var resultListener = new Topic({
- ros : this.ros,
- name : this.serverName + '/result',
- messageType : this.actionName + 'Result'
- });
-
- goalListener.subscribe(function(goalMessage) {
- that.emit('goal', goalMessage);
- });
-
- statusListener.subscribe(function(statusMessage) {
- statusMessage.status_list.forEach(function(status) {
- that.emit('status', status);
- });
- });
-
- feedbackListener.subscribe(function(feedbackMessage) {
- that.emit('status', feedbackMessage.status);
- that.emit('feedback', feedbackMessage.feedback);
- });
-
- // subscribe to the result topic
- resultListener.subscribe(function(resultMessage) {
- that.emit('status', resultMessage.status);
- that.emit('result', resultMessage.result);
- });
-
-}
-
-ActionListener.prototype.__proto__ = EventEmitter2.prototype;
-
-module.exports = ActionListener;
-
-},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],7:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var Message = require('../core/Message');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * An actionlib goal goal is associated with an action server.
- *
- * Emits the following events:
- * * 'timeout' - if a timeout occurred while sending a goal
- *
- * @constructor
- * @param object with following keys:
- * * actionClient - the ROSLIB.ActionClient to use with this goal
- * * goalMessage - The JSON object containing the goal for the action server
- */
-function Goal(options) {
- var that = this;
- this.actionClient = options.actionClient;
- this.goalMessage = options.goalMessage;
- this.isFinished = false;
-
- // Used to create random IDs
- var date = new Date();
-
- // Create a random ID
- this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
- // Fill in the goal message
- this.goalMessage = new Message({
- goal_id : {
- stamp : {
- secs : 0,
- nsecs : 0
- },
- id : this.goalID
- },
- goal : this.goalMessage
- });
-
- this.on('status', function(status) {
- that.status = status;
- });
-
- this.on('result', function(result) {
- that.isFinished = true;
- that.result = result;
- });
-
- this.on('feedback', function(feedback) {
- that.feedback = feedback;
- });
-
- // Add the goal
- this.actionClient.goals[this.goalID] = this;
-}
-
-Goal.prototype.__proto__ = EventEmitter2.prototype;
-
-/**
- * Send the goal to the action server.
- *
- * @param timeout (optional) - a timeout length for the goal's result
- */
-Goal.prototype.send = function(timeout) {
- var that = this;
- that.actionClient.goalTopic.publish(that.goalMessage);
- if (timeout) {
- setTimeout(function() {
- if (!that.isFinished) {
- that.emit('timeout');
- }
- }, timeout);
- }
-};
-
-/**
- * Cancel the current goal.
- */
-Goal.prototype.cancel = function() {
- var cancelMessage = new Message({
- id : this.goalID
- });
- this.actionClient.cancelTopic.publish(cancelMessage);
-};
-
-module.exports = Goal;
-},{"../core/Message":10,"eventemitter2":1}],8:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Laura Lindzey - lindzey@gmail.com
- */
-
-var Topic = require('../core/Topic');
-var Message = require('../core/Message');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * An actionlib action server client.
- *
- * Emits the following events:
- * * 'goal' - goal sent by action client
- * * 'cancel' - action client has canceled the request
- *
- * @constructor
- * @param options - object with following keys:
- * * ros - the ROSLIB.Ros connection handle
- * * serverName - the action server name, like /fibonacci
- * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
- */
-
-function SimpleActionServer(options) {
- var that = this;
- options = options || {};
- this.ros = options.ros;
- this.serverName = options.serverName;
- this.actionName = options.actionName;
-
- // create and advertise publishers
- this.feedbackPublisher = new Topic({
- ros : this.ros,
- name : this.serverName + '/feedback',
- messageType : this.actionName + 'Feedback'
- });
- this.feedbackPublisher.advertise();
-
- var statusPublisher = new Topic({
- ros : this.ros,
- name : this.serverName + '/status',
- messageType : 'actionlib_msgs/GoalStatusArray'
- });
- statusPublisher.advertise();
-
- this.resultPublisher = new Topic({
- ros : this.ros,
- name : this.serverName + '/result',
- messageType : this.actionName + 'Result'
- });
- this.resultPublisher.advertise();
-
- // create and subscribe to listeners
- var goalListener = new Topic({
- ros : this.ros,
- name : this.serverName + '/goal',
- messageType : this.actionName + 'Goal'
- });
-
- var cancelListener = new Topic({
- ros : this.ros,
- name : this.serverName + '/cancel',
- messageType : 'actionlib_msgs/GoalID'
- });
-
- // Track the goals and their status in order to publish status...
- this.statusMessage = new Message({
- header : {
- stamp : {secs : 0, nsecs : 100},
- frame_id : ''
- },
- status_list : []
- });
-
- // needed for handling preemption prompted by a new goal being received
- this.currentGoal = null; // currently tracked goal
- this.nextGoal = null; // the one that'll be preempting
-
- goalListener.subscribe(function(goalMessage) {
-
- if(that.currentGoal) {
- that.nextGoal = goalMessage;
- // needs to happen AFTER rest is set up
- that.emit('cancel');
- } else {
- that.statusMessage.status_list = [{goal_id : goalMessage.goal_id, status : 1}];
- that.currentGoal = goalMessage;
- that.emit('goal', goalMessage.goal);
- }
- });
-
- // helper function for determing ordering of timestamps
- // returns t1 < t2
- var isEarlier = function(t1, t2) {
- if(t1.secs > t2.secs) {
- return false;
- } else if(t1.secs < t2.secs) {
- return true;
- } else if(t1.nsecs < t2.nsecs) {
- return true;
- } else {
- return false;
- }
- };
-
- // TODO: this may be more complicated than necessary, since I'm
- // not sure if the callbacks can ever wind up with a scenario
- // where we've been preempted by a next goal, it hasn't finished
- // processing, and then we get a cancel message
- cancelListener.subscribe(function(cancelMessage) {
-
- // cancel ALL goals if both empty
- if(cancelMessage.stamp.secs === 0 && cancelMessage.stamp.secs === 0 && cancelMessage.id === '') {
- that.nextGoal = null;
- if(that.currentGoal) {
- that.emit('cancel');
- }
- } else { // treat id and stamp independently
- if(that.currentGoal && cancelMessage.id === that.currentGoal.goal_id.id) {
- that.emit('cancel');
- } else if(that.nextGoal && cancelMessage.id === that.nextGoal.goal_id.id) {
- that.nextGoal = null;
- }
-
- if(that.nextGoal && isEarlier(that.nextGoal.goal_id.stamp,
- cancelMessage.stamp)) {
- that.nextGoal = null;
- }
- if(that.currentGoal && isEarlier(that.currentGoal.goal_id.stamp,
- cancelMessage.stamp)) {
-
- that.emit('cancel');
- }
- }
- });
-
- // publish status at pseudo-fixed rate; required for clients to know they've connected
- var statusInterval = setInterval( function() {
- var currentTime = new Date();
- var secs = Math.floor(currentTime.getTime()/1000);
- var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs));
- that.statusMessage.header.stamp.secs = secs;
- that.statusMessage.header.stamp.nsecs = nsecs;
- statusPublisher.publish(that.statusMessage);
- }, 500); // publish every 500ms
-
-}
-
-SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;
-
-/**
-* Set action state to succeeded and return to client
-*/
-
-SimpleActionServer.prototype.setSucceeded = function(result2) {
-
-
- var resultMessage = new Message({
- status : {goal_id : this.currentGoal.goal_id, status : 3},
- result : result2
- });
- this.resultPublisher.publish(resultMessage);
-
- this.statusMessage.status_list = [];
- if(this.nextGoal) {
- this.currentGoal = this.nextGoal;
- this.nextGoal = null;
- this.emit('goal', this.currentGoal.goal);
- } else {
- this.currentGoal = null;
- }
-};
-
-/**
-* Function to send feedback
-*/
-
-SimpleActionServer.prototype.sendFeedback = function(feedback2) {
-
- var feedbackMessage = new Message({
- status : {goal_id : this.currentGoal.goal_id, status : 1},
- feedback : feedback2
- });
- this.feedbackPublisher.publish(feedbackMessage);
-};
-
-/**
-* Handle case where client requests preemption
-*/
-
-SimpleActionServer.prototype.setPreempted = function() {
-
- this.statusMessage.status_list = [];
- var resultMessage = new Message({
- status : {goal_id : this.currentGoal.goal_id, status : 2},
- });
- this.resultPublisher.publish(resultMessage);
-
- if(this.nextGoal) {
- this.currentGoal = this.nextGoal;
- this.nextGoal = null;
- this.emit('goal', this.currentGoal.goal);
- } else {
- this.currentGoal = null;
- }
-};
-
-module.exports = SimpleActionServer;
-},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],9:[function(require,module,exports){
-var Ros = require('../core/Ros');
-var mixin = require('../mixin');
-
-var action = module.exports = {
- ActionClient: require('./ActionClient'),
- ActionListener: require('./ActionListener'),
- Goal: require('./Goal'),
- SimpleActionServer: require('./SimpleActionServer')
-};
-
-mixin(Ros, ['ActionClient', 'SimpleActionServer'], action);
-
-},{"../core/Ros":12,"../mixin":24,"./ActionClient":5,"./ActionListener":6,"./Goal":7,"./SimpleActionServer":8}],10:[function(require,module,exports){
-/**
- * @fileoverview
- * @author Brandon Alexander - baalexander@gmail.com
- */
-
-var assign = require('object-assign');
-
-/**
- * Message objects are used for publishing and subscribing to and from topics.
- *
- * @constructor
- * @param values - object matching the fields defined in the .msg definition file
- */
-function Message(values) {
- assign(this, values);
-}
-
-module.exports = Message;
-},{"object-assign":2}],11:[function(require,module,exports){
-/**
- * @fileoverview
- * @author Brandon Alexander - baalexander@gmail.com
- */
-
-var Service = require('./Service');
-var ServiceRequest = require('./ServiceRequest');
-
-/**
- * A ROS parameter.
- *
- * @constructor
- * @param options - possible keys include:
- * * ros - the ROSLIB.Ros connection handle
- * * name - the param name, like max_vel_x
- */
-function Param(options) {
- options = options || {};
- this.ros = options.ros;
- this.name = options.name;
-}
-
-/**
- * Fetches the value of the param.
- *
- * @param callback - function with the following params:
- * * value - the value of the param from ROS.
- */
-Param.prototype.get = function(callback) {
- var paramClient = new Service({
- ros : this.ros,
- name : '/rosapi/get_param',
- serviceType : 'rosapi/GetParam'
- });
-
- var request = new ServiceRequest({
- name : this.name
- });
-
- paramClient.callService(request, function(result) {
- var value = JSON.parse(result.value);
- callback(value);
- });
-};
-
-/**
- * Sets the value of the param in ROS.
- *
- * @param value - value to set param to.
- */
-Param.prototype.set = function(value, callback) {
- var paramClient = new Service({
- ros : this.ros,
- name : '/rosapi/set_param',
- serviceType : 'rosapi/SetParam'
- });
-
- var request = new ServiceRequest({
- name : this.name,
- value : JSON.stringify(value)
- });
-
- paramClient.callService(request, callback);
-};
-
-/**
- * Delete this parameter on the ROS server.
- */
-Param.prototype.delete = function(callback) {
- var paramClient = new Service({
- ros : this.ros,
- name : '/rosapi/delete_param',
- serviceType : 'rosapi/DeleteParam'
- });
-
- var request = new ServiceRequest({
- name : this.name
- });
-
- paramClient.callService(request, callback);
-};
-
-module.exports = Param;
-},{"./Service":13,"./ServiceRequest":14}],12:[function(require,module,exports){
-/**
- * @fileoverview
- * @author Brandon Alexander - baalexander@gmail.com
- */
-
-var WebSocket = require('ws');
-var socketAdapter = require('./SocketAdapter.js');
-
-var Service = require('./Service');
-var ServiceRequest = require('./ServiceRequest');
-
-var assign = require('object-assign');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * Manages connection to the server and all interactions with ROS.
- *
- * Emits the following events:
- * * 'error' - there was an error with ROS
- * * 'connection' - connected to the WebSocket server
- * * 'close' - disconnected to the WebSocket server
- * * <topicName> - a message came from rosbridge with the given topic name
- * * <serviceID> - a service response came from rosbridge with the given ID
- *
- * @constructor
- * @param options - possible keys include: <br>
- * * url (optional) - (can be specified later with `connect`) the WebSocket URL for rosbridge or the node server url to connect using socket.io (if socket.io exists in the page) <br>
- * * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true)
- * * transportLibrary (optional) - one of 'websocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`.
- * * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.
- */
-function Ros(options) {
- options = options || {};
- this.socket = null;
- this.idCounter = 0;
- this.isConnected = false;
- this.transportLibrary = options.transportLibrary || 'websocket';
- this.transportOptions = options.transportOptions || {};
-
- if (typeof options.groovyCompatibility === 'undefined') {
- this.groovyCompatibility = true;
- }
- else {
- this.groovyCompatibility = options.groovyCompatibility;
- }
-
- // Sets unlimited event listeners.
- this.setMaxListeners(0);
-
- // begin by checking if a URL was given
- if (options.url) {
- this.connect(options.url);
- }
-}
-
-Ros.prototype.__proto__ = EventEmitter2.prototype;
-
-/**
- * Connect to the specified WebSocket.
- *
- * @param url - WebSocket URL or RTCDataChannel label for Rosbridge
- */
-Ros.prototype.connect = function(url) {
- if (this.transportLibrary === 'socket.io') {
- this.socket = assign(io(url, {'force new connection': true}), socketAdapter(this));
- this.socket.on('connect', this.socket.onopen);
- this.socket.on('data', this.socket.onmessage);
- this.socket.on('close', this.socket.onclose);
- this.socket.on('error', this.socket.onerror);
- } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') {
- this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), socketAdapter(this));
- }else {
- this.socket = assign(new WebSocket(url), socketAdapter(this));
- }
-
-};
-
-/**
- * Disconnect from the WebSocket server.
- */
-Ros.prototype.close = function() {
- if (this.socket) {
- this.socket.close();
- }
-};
-
-/**
- * Sends an authorization request to the server.
- *
- * @param mac - MAC (hash) string given by the trusted source.
- * @param client - IP of the client.
- * @param dest - IP of the destination.
- * @param rand - Random string given by the trusted source.
- * @param t - Time of the authorization request.
- * @param level - User level as a string given by the client.
- * @param end - End time of the client's session.
- */
-Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
- // create the request
- var auth = {
- op : 'auth',
- mac : mac,
- client : client,
- dest : dest,
- rand : rand,
- t : t,
- level : level,
- end : end
- };
- // send the request
- this.callOnConnection(auth);
-};
-
-/**
- * Sends the message over the WebSocket, but queues the message up if not yet
- * connected.
- */
-Ros.prototype.callOnConnection = function(message) {
- var that = this;
- var messageJson = JSON.stringify(message);
- var emitter = null;
- if (this.transportLibrary === 'socket.io') {
- emitter = function(msg){that.socket.emit('operation', msg);};
- } else {
- emitter = function(msg){that.socket.send(msg);};
- }
-
- if (!this.isConnected) {
- that.once('connection', function() {
- emitter(messageJson);
- });
- } else {
- emitter(messageJson);
- }
-};
-
-/**
- * Sends a set_level request to the server
- *
- * @param level - Status level (none, error, warning, info)
- * @param id - Optional: Operation ID to change status level on
- */
-Ros.prototype.setStatusLevel = function(level, id){
- var levelMsg = {
- op: 'set_level',
- level: level,
- id: id
- };
-
- this.callOnConnection(levelMsg);
-};
-
-/**
- * Retrieves Action Servers in ROS as an array of string
- *
- * * actionservers - Array of action server names
- */
-Ros.prototype.getActionServers = function(callback, failedCallback) {
- var getActionServers = new Service({
- ros : this,
- name : '/rosapi/action_servers',
- serviceType : 'rosapi/GetActionServers'
- });
-
- var request = new ServiceRequest({});
- if (typeof failedCallback === 'function'){
- getActionServers.callService(request,
- function(result) {
- callback(result.action_servers);
- },
- function(message){
- failedCallback(message);
- }
- );
- }else{
- getActionServers.callService(request, function(result) {
- callback(result.action_servers);
- });
- }
-};
-
-/**
- * Retrieves list of topics in ROS as an array.
- *
- * @param callback function with params:
- * * topics - Array of topic names
- */
-Ros.prototype.getTopics = function(callback, failedCallback) {
- var topicsClient = new Service({
- ros : this,
- name : '/rosapi/topics',
- serviceType : 'rosapi/Topics'
- });
-
- var request = new ServiceRequest();
- if (typeof failedCallback === 'function'){
- topicsClient.callService(request,
- function(result) {
- callback(result);
- },
- function(message){
- failedCallback(message);
- }
- );
- }else{
- topicsClient.callService(request, function(result) {
- callback(result);
- });
- }
-};
-
-/**
- * Retrieves Topics in ROS as an array as specific type
- *
- * @param topicType topic type to find:
- * @param callback function with params:
- * * topics - Array of topic names
- */
-Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
- var topicsForTypeClient = new Service({
- ros : this,
- name : '/rosapi/topics_for_type',
- serviceType : 'rosapi/TopicsForType'
- });
-
- var request = new ServiceRequest({
- type: topicType
- });
- if (typeof failedCallback === 'function'){
- topicsForTypeClient.callService(request,
- function(result) {
- callback(result.topics);
- },
- function(message){
- failedCallback(message);
- }
- );
- }else{
- topicsForTypeClient.callService(request, function(result) {
- callback(result.topics);
- });
- }
-};
-
-/**
- * Retrieves list of active service names in ROS.
- *
- * @param callback - function with the following params:
- * * services - array of service names
- */
-Ros.prototype.getServices = function(callback, failedCallback) {
- var servicesClient = new Service({
- ros : this,
- name : '/rosapi/services',
- serviceType : 'rosapi/Services'
- });
-
- var request = new ServiceRequest();
- if (typeof failedCallback === 'function'){
- servicesClient.callService(request,
- function(result) {
- callback(result.services);
- },
- function(message) {
- failedCallback(message);
- }
- );
- }else{
- servicesClient.callService(request, function(result) {
- callback(result.services);
- });
- }
-};
-
-/**
- * Retrieves list of services in ROS as an array as specific type
- *
- * @param serviceType service type to find:
- * @param callback function with params:
- * * topics - Array of service names
- */
-Ros.prototype.getServicesForType = function(serviceType, callback, failedCallback) {
- var servicesForTypeClient = new Service({
- ros : this,
- name : '/rosapi/services_for_type',
- serviceType : 'rosapi/ServicesForType'
- });
-
- var request = new ServiceRequest({
- type: serviceType
- });
- if (typeof failedCallback === 'function'){
- servicesForTypeClient.callService(request,
- function(result) {
- callback(result.services);
- },
- function(message) {
- failedCallback(message);
- }
- );
- }else{
- servicesForTypeClient.callService(request, function(result) {
- callback(result.services);
- });
- }
-};
-
-/**
- * Retrieves a detail of ROS service request.
- *
- * @param service name of service:
- * @param callback - function with params:
- * * type - String of the service type
- */
-Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback) {
- var serviceTypeClient = new Service({
- ros : this,
- name : '/rosapi/service_request_details',
- serviceType : 'rosapi/ServiceRequestDetails'
- });
- var request = new ServiceRequest({
- type: type
- });
-
- if (typeof failedCallback === 'function'){
- serviceTypeClient.callService(request,
- function(result) {
- callback(result);
- },
- function(message){
- failedCallback(message);
- }
- );
- }else{
- serviceTypeClient.callService(request, function(result) {
- callback(result);
- });
- }
-};
-
-/**
- * Retrieves a detail of ROS service request.
- *
- * @param service name of service:
- * @param callback - function with params:
- * * type - String of the service type
- */
-Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallback) {
- var serviceTypeClient = new Service({
- ros : this,
- name : '/rosapi/service_response_details',
- serviceType : 'rosapi/ServiceResponseDetails'
- });
- var request = new ServiceRequest({
- type: type
- });
-
- if (typeof failedCallback === 'function'){
- serviceTypeClient.callService(request,
- function(result) {
- callback(result);
- },
- function(message){
- failedCallback(message);
- }
- );
- }else{
- serviceTypeClient.callService(request, function(result) {
- callback(result);
- });
- }
-};
-
-/**
- * Retrieves list of active node names in ROS.
- *
- * @param callback - function with the following params:
- * * nodes - array of node names
- */
-Ros.prototype.getNodes = function(callback, failedCallback) {
- var nodesClient = new Service({
- ros : this,
- name : '/rosapi/nodes',
- serviceType : 'rosapi/Nodes'
- });
-
- var request = new ServiceRequest();
- if (typeof failedCallback === 'function'){
- nodesClient.callService(request,
- function(result) {
- callback(result.nodes);
- },
- function(message) {
- failedCallback(message);
- }
- );
- }else{
- nodesClient.callService(request, function(result) {
- callback(result.nodes);
- });
- }
-};
-
-/**
- * Retrieves list subscribed topics, publishing topics and services of a specific node
- *
- * @param node name of the node:
- * @param callback - function with params:
- * * publications - array of published topic names
- * * subscriptions - array of subscribed topic names
- * * services - array of service names hosted
- */
-Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {
- var nodesClient = new Service({
- ros : this,
- name : '/rosapi/node_details',
- serviceType : 'rosapi/NodeDetails'
- });
-
- var request = new ServiceRequest({
- node: node
- });
- if (typeof failedCallback === 'function'){
- nodesClient.callService(request,
- function(result) {
- callback(result.subscribing, result.publishing, result.services);
- },
- function(message) {
- failedCallback(message);
- }
- );
- } else {
- nodesClient.callService(request, function(result) {
- callback(result);
- });
- }
-};
-
-/**
- * Retrieves list of param names from the ROS Parameter Server.
- *
- * @param callback function with params:
- * * params - array of param names.
- */
-Ros.prototype.getParams = function(callback, failedCallback) {
- var paramsClient = new Service({
- ros : this,
- name : '/rosapi/get_param_names',
- serviceType : 'rosapi/GetParamNames'
- });
- var request = new ServiceRequest();
- if (typeof failedCallback === 'function'){
- paramsClient.callService(request,
- function(result) {
- callback(result.names);
- },
- function(message){
- failedCallback(message);
- }
- );
- }else{
- paramsClient.callService(request, function(result) {
- callback(result.names);
- });
- }
-};
-
-/**
- * Retrieves a type of ROS topic.
- *
- * @param topic name of the topic:
- * @param callback - function with params:
- * * type - String of the topic type
- */
-Ros.prototype.getTopicType = function(topic, callback, failedCallback) {
- var topicTypeClient = new Service({
- ros : this,
- name : '/rosapi/topic_type',
- serviceType : 'rosapi/TopicType'
- });
- var request = new ServiceRequest({
- topic: topic
- });
-
- if (typeof failedCallback === 'function'){
- topicTypeClient.callService(request,
- function(result) {
- callback(result.type);
- },
- function(message){
- failedCallback(message);
- }
- );
- }else{
- topicTypeClient.callService(request, function(result) {
- callback(result.type);
- });
- }
-};
-
-/**
- * Retrieves a type of ROS service.
- *
- * @param service name of service:
- * @param callback - function with params:
- * * type - String of the service type
- */
-Ros.prototype.getServiceType = function(service, callback, failedCallback) {
- var serviceTypeClient = new Service({
- ros : this,
- name : '/rosapi/service_type',
- serviceType : 'rosapi/ServiceType'
- });
- var request = new ServiceRequest({
- service: service
- });
-
- if (typeof failedCallback === 'function'){
- serviceTypeClient.callService(request,
- function(result) {
- callback(result.type);
- },
- function(message){
- failedCallback(message);
- }
- );
- }else{
- serviceTypeClient.callService(request, function(result) {
- callback(result.type);
- });
- }
-};
-
-/**
- * Retrieves a detail of ROS message.
- *
- * @param callback - function with params:
- * * details - Array of the message detail
- * @param message - String of a topic type
- */
-Ros.prototype.getMessageDetails = function(message, callback, failedCallback) {
- var messageDetailClient = new Service({
- ros : this,
- name : '/rosapi/message_details',
- serviceType : 'rosapi/MessageDetails'
- });
- var request = new ServiceRequest({
- type: message
- });
-
- if (typeof failedCallback === 'function'){
- messageDetailClient.callService(request,
- function(result) {
- callback(result.typedefs);
- },
- function(message){
- failedCallback(message);
- }
- );
- }else{
- messageDetailClient.callService(request, function(result) {
- callback(result.typedefs);
- });
- }
-};
-
-/**
- * Decode a typedefs into a dictionary like `rosmsg show foo/bar`
- *
- * @param defs - array of type_def dictionary
- */
-Ros.prototype.decodeTypeDefs = function(defs) {
- var that = this;
-
- // calls itself recursively to resolve type definition using hints.
- var decodeTypeDefsRec = function(theType, hints) {
- var typeDefDict = {};
- for (var i = 0; i < theType.fieldnames.length; i++) {
- var arrayLen = theType.fieldarraylen[i];
- var fieldName = theType.fieldnames[i];
- var fieldType = theType.fieldtypes[i];
- if (fieldType.indexOf('/') === -1) { // check the fieldType includes '/' or not
- if (arrayLen === -1) {
- typeDefDict[fieldName] = fieldType;
- }
- else {
- typeDefDict[fieldName] = [fieldType];
- }
- }
- else {
- // lookup the name
- var sub = false;
- for (var j = 0; j < hints.length; j++) {
- if (hints[j].type.toString() === fieldType.toString()) {
- sub = hints[j];
- break;
- }
- }
- if (sub) {
- var subResult = decodeTypeDefsRec(sub, hints);
- if (arrayLen === -1) {
- }
- else {
- typeDefDict[fieldName] = [subResult];
- }
- }
- else {
- that.emit('error', 'Cannot find ' + fieldType + ' in decodeTypeDefs');
- }
- }
- }
- return typeDefDict;
- };
-
- return decodeTypeDefsRec(defs[0], defs);
-};
-
-
-module.exports = Ros;
-
-},{"./Service":13,"./ServiceRequest":14,"./SocketAdapter.js":16,"eventemitter2":1,"object-assign":2,"ws":39}],13:[function(require,module,exports){
-/**
- * @fileoverview
- * @author Brandon Alexander - baalexander@gmail.com
- */
-
-var ServiceResponse = require('./ServiceResponse');
-var ServiceRequest = require('./ServiceRequest');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * A ROS service client.
- *
- * @constructor
- * @params options - possible keys include:
- * * ros - the ROSLIB.Ros connection handle
- * * name - the service name, like /add_two_ints
- * * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
- */
-function Service(options) {
- options = options || {};
- this.ros = options.ros;
- this.name = options.name;
- this.serviceType = options.serviceType;
- this.isAdvertised = false;
-
- this._serviceCallback = null;
-}
-Service.prototype.__proto__ = EventEmitter2.prototype;
-/**
- * Calls the service. Returns the service response in the callback.
- *
- * @param request - the ROSLIB.ServiceRequest to send
- * @param callback - function with params:
- * * response - the response from the service request
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- * * error - the error message reported by ROS
- */
-Service.prototype.callService = function(request, callback, failedCallback) {
- if (this.isAdvertised) {
- return;
- }
-
- var serviceCallId = 'call_service:' + this.name + ':' + (++this.ros.idCounter);
-
- if (callback || failedCallback) {
- this.ros.once(serviceCallId, function(message) {
- if (message.result !== undefined && message.result === false) {
- if (typeof failedCallback === 'function') {
- failedCallback(message.values);
- }
- } else if (typeof callback === 'function') {
- callback(new ServiceResponse(message.values));
- }
- });
- }
-
- var call = {
- op : 'call_service',
- id : serviceCallId,
- service : this.name,
- args : request
- };
- this.ros.callOnConnection(call);
-};
-
-/**
- * Every time a message is published for the given topic, the callback
- * will be called with the message object.
- *
- * @param callback - function with the following params:
- * * message - the published message
- */
-Service.prototype.advertise = function(callback) {
- if (this.isAdvertised || typeof callback !== 'function') {
- return;
- }
-
- this._serviceCallback = callback;
- this.ros.on(this.name, this._serviceResponse.bind(this));
- this.ros.callOnConnection({
- op: 'advertise_service',
- type: this.serviceType,
- service: this.name
- });
- this.isAdvertised = true;
-};
-
-Service.prototype.unadvertise = function() {
- if (!this.isAdvertised) {
- return;
- }
- this.ros.callOnConnection({
- op: 'unadvertise_service',
- service: this.name
- });
- this.isAdvertised = false;
-};
-
-Service.prototype._serviceResponse = function(rosbridgeRequest) {
- var response = {};
- var success = this._serviceCallback(rosbridgeRequest.args, response);
-
- var call = {
- op: 'service_response',
- service: this.name,
- values: new ServiceResponse(response),
- result: success
- };
-
- if (rosbridgeRequest.id) {
- call.id = rosbridgeRequest.id;
- }
-
- this.ros.callOnConnection(call);
-};
-
-module.exports = Service;
-},{"./ServiceRequest":14,"./ServiceResponse":15,"eventemitter2":1}],14:[function(require,module,exports){
-/**
- * @fileoverview
- * @author Brandon Alexander - balexander@willowgarage.com
- */
-
-var assign = require('object-assign');
-
-/**
- * A ServiceRequest is passed into the service call.
- *
- * @constructor
- * @param values - object matching the fields defined in the .srv definition file
- */
-function ServiceRequest(values) {
- assign(this, values);
-}
-
-module.exports = ServiceRequest;
-},{"object-assign":2}],15:[function(require,module,exports){
-/**
- * @fileoverview
- * @author Brandon Alexander - balexander@willowgarage.com
- */
-
-var assign = require('object-assign');
-
-/**
- * A ServiceResponse is returned from the service call.
- *
- * @constructor
- * @param values - object matching the fields defined in the .srv definition file
- */
-function ServiceResponse(values) {
- assign(this, values);
-}
-
-module.exports = ServiceResponse;
-},{"object-assign":2}],16:[function(require,module,exports){
-/**
- * Socket event handling utilities for handling events on either
- * WebSocket and TCP sockets
- *
- * Note to anyone reviewing this code: these functions are called
- * in the context of their parent object, unless bound
- * @fileOverview
- */
-'use strict';
-
-var decompressPng = require('../util/decompressPng');
-var WebSocket = require('ws');
-var BSON = null;
-if(typeof bson !== 'undefined'){
- BSON = bson().BSON;
-}
-
-/**
- * Events listeners for a WebSocket or TCP socket to a JavaScript
- * ROS Client. Sets up Messages for a given topic to trigger an
- * event on the ROS client.
- *
- * @namespace SocketAdapter
- * @private
- */
-function SocketAdapter(client) {
- function handleMessage(message) {
- if (message.op === 'publish') {
- client.emit(message.topic, message.msg);
- } else if (message.op === 'service_response') {
- client.emit(message.id, message);
- } else if (message.op === 'call_service') {
- client.emit(message.service, message);
- } else if(message.op === 'status'){
- if(message.id){
- client.emit('status:'+message.id, message);
- } else {
- client.emit('status', message);
- }
- }
- }
-
- function handlePng(message, callback) {
- if (message.op === 'png') {
- decompressPng(message.data, callback);
- } else {
- callback(message);
- }
- }
-
- function decodeBSON(data, callback) {
- if (!BSON) {
- throw 'Cannot process BSON encoded message without BSON header.';
- }
- var reader = new FileReader();
- reader.onload = function() {
- var uint8Array = new Uint8Array(this.result);
- var msg = BSON.deserialize(uint8Array);
- callback(msg);
- };
- reader.readAsArrayBuffer(data);
- }
-
- return {
- /**
- * Emits a 'connection' event on WebSocket connection.
- *
- * @param event - the argument to emit with the event.
- * @memberof SocketAdapter
- */
- onopen: function onOpen(event) {
- client.isConnected = true;
- client.emit('connection', event);
- },
-
- /**
- * Emits a 'close' event on WebSocket disconnection.
- *
- * @param event - the argument to emit with the event.
- * @memberof SocketAdapter
- */
- onclose: function onClose(event) {
- client.isConnected = false;
- client.emit('close', event);
- },
-
- /**
- * Emits an 'error' event whenever there was an error.
- *
- * @param event - the argument to emit with the event.
- * @memberof SocketAdapter
- */
- onerror: function onError(event) {
- client.emit('error', event);
- },
-
- /**
- * Parses message responses from rosbridge and sends to the appropriate
- * topic, service, or param.
- *
- * @param message - the raw JSON message from rosbridge.
- * @memberof SocketAdapter
- */
- onmessage: function onMessage(data) {
- if (typeof Blob !== 'undefined' && data.data instanceof Blob) {
- decodeBSON(data.data, function (message) {
- handlePng(message, handleMessage);
- });
- } else {
- var message = JSON.parse(typeof data === 'string' ? data : data.data);
- handlePng(message, handleMessage);
- }
- }
- };
-}
-
-module.exports = SocketAdapter;
-
-},{"../util/decompressPng":41,"ws":39}],17:[function(require,module,exports){
-/**
- * @fileoverview
- * @author Brandon Alexander - baalexander@gmail.com
- */
-
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-var Message = require('./Message');
-
-/**
- * Publish and/or subscribe to a topic in ROS.
- *
- * Emits the following events:
- * * 'warning' - if there are any warning during the Topic creation
- * * 'message' - the message data from rosbridge
- *
- * @constructor
- * @param options - object with following keys:
- * * ros - the ROSLIB.Ros connection handle
- * * name - the topic name, like /cmd_vel
- * * messageType - the message type, like 'std_msgs/String'
- * * compression - the type of compression to use, like 'png'
- * * throttle_rate - the rate (in ms in between messages) at which to throttle the topics
- * * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100)
- * * latch - latch the topic when publishing
- * * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing).
- * * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true).
- */
-function Topic(options) {
- options = options || {};
- this.ros = options.ros;
- this.name = options.name;
- this.messageType = options.messageType;
- this.isAdvertised = false;
- this.compression = options.compression || 'none';
- this.throttle_rate = options.throttle_rate || 0;
- this.latch = options.latch || false;
- this.queue_size = options.queue_size || 100;
- this.queue_length = options.queue_length || 0;
- this.reconnect_on_close = options.reconnect_on_close || true;
-
- // Check for valid compression types
- if (this.compression && this.compression !== 'png' &&
- this.compression !== 'none') {
- this.emit('warning', this.compression +
- ' compression is not supported. No compression will be used.');
- }
-
- // Check if throttle rate is negative
- if (this.throttle_rate < 0) {
- this.emit('warning', this.throttle_rate + ' is not allowed. Set to 0');
- this.throttle_rate = 0;
- }
-
- var that = this;
- if (this.reconnect_on_close) {
- this.callForSubscribeAndAdvertise = function(message) {
- that.ros.callOnConnection(message);
-
- that.waitForReconnect = false;
- that.reconnectFunc = function() {
- if(!that.waitForReconnect) {
- that.waitForReconnect = true;
- that.ros.callOnConnection(message);
- that.ros.once('connection', function() {
- that.waitForReconnect = false;
- });
- }
- };
- that.ros.on('close', that.reconnectFunc);
- };
- }
- else {
- this.callForSubscribeAndAdvertise = this.ros.callOnConnection;
- }
-
- this._messageCallback = function(data) {
- that.emit('message', new Message(data));
- };
-}
-Topic.prototype.__proto__ = EventEmitter2.prototype;
-
-/**
- * Every time a message is published for the given topic, the callback
- * will be called with the message object.
- *
- * @param callback - function with the following params:
- * * message - the published message
- */
-Topic.prototype.subscribe = function(callback) {
- if (typeof callback === 'function') {
- this.on('message', callback);
- }
-
- if (this.subscribeId) { return; }
- this.ros.on(this.name, this._messageCallback);
- this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter);
-
- this.callForSubscribeAndAdvertise({
- op: 'subscribe',
- id: this.subscribeId,
- type: this.messageType,
- topic: this.name,
- compression: this.compression,
- throttle_rate: this.throttle_rate,
- queue_length: this.queue_length
- });
-};
-
-/**
- * Unregisters as a subscriber for the topic. Unsubscribing stop remove
- * all subscribe callbacks. To remove a call back, you must explicitly
- * pass the callback function in.
- *
- * @param callback - the optional callback to unregister, if
- * * provided and other listeners are registered the topic won't
- * * unsubscribe, just stop emitting to the passed listener
- */
-Topic.prototype.unsubscribe = function(callback) {
- if (callback) {
- this.off('message', callback);
- // If there is any other callbacks still subscribed don't unsubscribe
- if (this.listeners('message').length) { return; }
- }
- if (!this.subscribeId) { return; }
- // Note: Don't call this.removeAllListeners, allow client to handle that themselves
- this.ros.off(this.name, this._messageCallback);
- if(this.reconnect_on_close) {
- this.ros.off('close', this.reconnectFunc);
- }
- this.emit('unsubscribe');
- this.ros.callOnConnection({
- op: 'unsubscribe',
- id: this.subscribeId,
- topic: this.name
- });
- this.subscribeId = null;
-};
-
-
-/**
- * Registers as a publisher for the topic.
- */
-Topic.prototype.advertise = function() {
- if (this.isAdvertised) {
- return;
- }
- this.advertiseId = 'advertise:' + this.name + ':' + (++this.ros.idCounter);
- this.callForSubscribeAndAdvertise({
- op: 'advertise',
- id: this.advertiseId,
- type: this.messageType,
- topic: this.name,
- latch: this.latch,
- queue_size: this.queue_size
- });
- this.isAdvertised = true;
-
- if(!this.reconnect_on_close) {
- var that = this;
- this.ros.on('close', function() {
- that.isAdvertised = false;
- });
- }
-};
-
-/**
- * Unregisters as a publisher for the topic.
- */
-Topic.prototype.unadvertise = function() {
- if (!this.isAdvertised) {
- return;
- }
- if(this.reconnect_on_close) {
- this.ros.off('close', this.reconnectFunc);
- }
- this.emit('unadvertise');
- this.ros.callOnConnection({
- op: 'unadvertise',
- id: this.advertiseId,
- topic: this.name
- });
- this.isAdvertised = false;
-};
-
-/**
- * Publish the message.
- *
- * @param message - A ROSLIB.Message object.
- */
-Topic.prototype.publish = function(message) {
- if (!this.isAdvertised) {
- this.advertise();
- }
-
- this.ros.idCounter++;
- var call = {
- op: 'publish',
- id: 'publish:' + this.name + ':' + this.ros.idCounter,
- topic: this.name,
- msg: message,
- latch: this.latch
- };
- this.ros.callOnConnection(call);
-};
-
-module.exports = Topic;
-
-},{"./Message":10,"eventemitter2":1}],18:[function(require,module,exports){
-var mixin = require('../mixin');
-
-var core = module.exports = {
- Ros: require('./Ros'),
- Topic: require('./Topic'),
- Message: require('./Message'),
- Param: require('./Param'),
- Service: require('./Service'),
- ServiceRequest: require('./ServiceRequest'),
- ServiceResponse: require('./ServiceResponse')
-};
-
-mixin(core.Ros, ['Param', 'Service', 'Topic'], core);
-
-},{"../mixin":24,"./Message":10,"./Param":11,"./Ros":12,"./Service":13,"./ServiceRequest":14,"./ServiceResponse":15,"./Topic":17}],19:[function(require,module,exports){
-/**
- * @fileoverview
- * @author David Gossow - dgossow@willowgarage.com
- */
-
-var Vector3 = require('./Vector3');
-var Quaternion = require('./Quaternion');
-
-/**
- * A Pose in 3D space. Values are copied into this object.
- *
- * @constructor
- * @param options - object with following keys:
- * * position - the Vector3 describing the position
- * * orientation - the ROSLIB.Quaternion describing the orientation
- */
-function Pose(options) {
- options = options || {};
- // copy the values into this object if they exist
- this.position = new Vector3(options.position);
- this.orientation = new Quaternion(options.orientation);
-}
-
-/**
- * Apply a transform against this pose.
- *
- * @param tf the transform
- */
-Pose.prototype.applyTransform = function(tf) {
- this.position.multiplyQuaternion(tf.rotation);
- this.position.add(tf.translation);
- var tmp = tf.rotation.clone();
- tmp.multiply(this.orientation);
- this.orientation = tmp;
-};
-
-/**
- * Clone a copy of this pose.
- *
- * @returns the cloned pose
- */
-Pose.prototype.clone = function() {
- return new Pose(this);
-};
-
-module.exports = Pose;
-},{"./Quaternion":20,"./Vector3":22}],20:[function(require,module,exports){
-/**
- * @fileoverview
- * @author David Gossow - dgossow@willowgarage.com
- */
-
-/**
- * A Quaternion.
- *
- * @constructor
- * @param options - object with following keys:
- * * x - the x value
- * * y - the y value
- * * z - the z value
- * * w - the w value
- */
-function Quaternion(options) {
- options = options || {};
- this.x = options.x || 0;
- this.y = options.y || 0;
- this.z = options.z || 0;
- this.w = (typeof options.w === 'number') ? options.w : 1;
-}
-
-/**
- * Perform a conjugation on this quaternion.
- */
-Quaternion.prototype.conjugate = function() {
- this.x *= -1;
- this.y *= -1;
- this.z *= -1;
-};
-
-/**
- * Return the norm of this quaternion.
- */
-Quaternion.prototype.norm = function() {
- return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
-};
-
-/**
- * Perform a normalization on this quaternion.
- */
-Quaternion.prototype.normalize = function() {
- var l = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
- if (l === 0) {
- this.x = 0;
- this.y = 0;
- this.z = 0;
- this.w = 1;
- } else {
- l = 1 / l;
- this.x = this.x * l;
- this.y = this.y * l;
- this.z = this.z * l;
- this.w = this.w * l;
- }
-};
-
-/**
- * Convert this quaternion into its inverse.
- */
-Quaternion.prototype.invert = function() {
- this.conjugate();
- this.normalize();
-};
-
-/**
- * Set the values of this quaternion to the product of itself and the given quaternion.
- *
- * @param q the quaternion to multiply with
- */
-Quaternion.prototype.multiply = function(q) {
- var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;
- var newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y;
- var newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z;
- var newW = -this.x * q.x - this.y * q.y - this.z * q.z + this.w * q.w;
- this.x = newX;
- this.y = newY;
- this.z = newZ;
- this.w = newW;
-};
-
-/**
- * Clone a copy of this quaternion.
- *
- * @returns the cloned quaternion
- */
-Quaternion.prototype.clone = function() {
- return new Quaternion(this);
-};
-
-module.exports = Quaternion;
-
-},{}],21:[function(require,module,exports){
-/**
- * @fileoverview
- * @author David Gossow - dgossow@willowgarage.com
- */
-
-var Vector3 = require('./Vector3');
-var Quaternion = require('./Quaternion');
-
-/**
- * A Transform in 3-space. Values are copied into this object.
- *
- * @constructor
- * @param options - object with following keys:
- * * translation - the Vector3 describing the translation
- * * rotation - the ROSLIB.Quaternion describing the rotation
- */
-function Transform(options) {
- options = options || {};
- // Copy the values into this object if they exist
- this.translation = new Vector3(options.translation);
- this.rotation = new Quaternion(options.rotation);
-}
-
-/**
- * Clone a copy of this transform.
- *
- * @returns the cloned transform
- */
-Transform.prototype.clone = function() {
- return new Transform(this);
-};
-
-module.exports = Transform;
-},{"./Quaternion":20,"./Vector3":22}],22:[function(require,module,exports){
-/**
- * @fileoverview
- * @author David Gossow - dgossow@willowgarage.com
- */
-
-/**
- * A 3D vector.
- *
- * @constructor
- * @param options - object with following keys:
- * * x - the x value
- * * y - the y value
- * * z - the z value
- */
-function Vector3(options) {
- options = options || {};
- this.x = options.x || 0;
- this.y = options.y || 0;
- this.z = options.z || 0;
-}
-
-/**
- * Set the values of this vector to the sum of itself and the given vector.
- *
- * @param v the vector to add with
- */
-Vector3.prototype.add = function(v) {
- this.x += v.x;
- this.y += v.y;
- this.z += v.z;
-};
-
-/**
- * Set the values of this vector to the difference of itself and the given vector.
- *
- * @param v the vector to subtract with
- */
-Vector3.prototype.subtract = function(v) {
- this.x -= v.x;
- this.y -= v.y;
- this.z -= v.z;
-};
-
-/**
- * Multiply the given Quaternion with this vector.
- *
- * @param q - the quaternion to multiply with
- */
-Vector3.prototype.multiplyQuaternion = function(q) {
- var ix = q.w * this.x + q.y * this.z - q.z * this.y;
- var iy = q.w * this.y + q.z * this.x - q.x * this.z;
- var iz = q.w * this.z + q.x * this.y - q.y * this.x;
- var iw = -q.x * this.x - q.y * this.y - q.z * this.z;
- this.x = ix * q.w + iw * -q.x + iy * -q.z - iz * -q.y;
- this.y = iy * q.w + iw * -q.y + iz * -q.x - ix * -q.z;
- this.z = iz * q.w + iw * -q.z + ix * -q.y - iy * -q.x;
-};
-
-/**
- * Clone a copy of this vector.
- *
- * @returns the cloned vector
- */
-Vector3.prototype.clone = function() {
- return new Vector3(this);
-};
-
-module.exports = Vector3;
-},{}],23:[function(require,module,exports){
-module.exports = {
- Pose: require('./Pose'),
- Quaternion: require('./Quaternion'),
- Transform: require('./Transform'),
- Vector3: require('./Vector3')
-};
-
-},{"./Pose":19,"./Quaternion":20,"./Transform":21,"./Vector3":22}],24:[function(require,module,exports){
-/**
- * Mixin a feature to the core/Ros prototype.
- * For example, mixin(Ros, ['Topic'], {Topic: <Topic>})
- * will add a topic bound to any Ros instances so a user
- * can call `var topic = ros.Topic({name: '/foo'});`
- *
- * @author Graeme Yeates - github.com/megawac
- */
-module.exports = function(Ros, classes, features) {
- classes.forEach(function(className) {
- var Class = features[className];
- Ros.prototype[className] = function(options) {
- options.ros = this;
- return new Class(options);
- };
- });
-};
-
-},{}],25:[function(require,module,exports){
-/**
- * @fileoverview
- * @author David Gossow - dgossow@willowgarage.com
- */
-
-var ActionClient = require('../actionlib/ActionClient');
-var Goal = require('../actionlib/Goal');
-
-var Service = require('../core/Service.js');
-var ServiceRequest = require('../core/ServiceRequest.js');
-
-var Transform = require('../math/Transform');
-
-/**
- * A TF Client that listens to TFs from tf2_web_republisher.
- *
- * @constructor
- * @param options - object with following keys:
- * * ros - the ROSLIB.Ros connection handle
- * * fixedFrame - the fixed frame, like /base_link
- * * angularThres - the angular threshold for the TF republisher
- * * transThres - the translation threshold for the TF republisher
- * * rate - the rate for the TF republisher
- * * updateDelay - the time (in ms) to wait after a new subscription
- * to update the TF republisher's list of TFs
- * * topicTimeout - the timeout parameter for the TF republisher
- * * serverName (optional) - the name of the tf2_web_republisher server
- * * repubServiceName (optional) - the name of the republish_tfs service (non groovy compatibility mode only)
- * default: '/republish_tfs'
- */
-function TFClient(options) {
- options = options || {};
- this.ros = options.ros;
- this.fixedFrame = options.fixedFrame || '/base_link';
- this.angularThres = options.angularThres || 2.0;
- this.transThres = options.transThres || 0.01;
- this.rate = options.rate || 10.0;
- this.updateDelay = options.updateDelay || 50;
- var seconds = options.topicTimeout || 2.0;
- var secs = Math.floor(seconds);
- var nsecs = Math.floor((seconds - secs) * 1000000000);
- this.topicTimeout = {
- secs: secs,
- nsecs: nsecs
- };
- this.serverName = options.serverName || '/tf2_web_republisher';
- this.repubServiceName = options.repubServiceName || '/republish_tfs';
-
- this.currentGoal = false;
- this.currentTopic = false;
- this.frameInfos = {};
- this.republisherUpdateRequested = false;
-
- // Create an Action client
- this.actionClient = this.ros.ActionClient({
- serverName : this.serverName,
- actionName : 'tf2_web_republisher/TFSubscriptionAction',
- omitStatus : true,
- omitResult : true
- });
-
- // Create a Service client
- this.serviceClient = this.ros.Service({
- name: this.repubServiceName,
- serviceType: 'tf2_web_republisher/RepublishTFs'
- });
-}
-
-/**
- * Process the incoming TF message and send them out using the callback
- * functions.
- *
- * @param tf - the TF message from the server
- */
-TFClient.prototype.processTFArray = function(tf) {
- var that = this;
- tf.transforms.forEach(function(transform) {
- var frameID = transform.child_frame_id;
- if (frameID[0] === '/')
- {
- frameID = frameID.substring(1);
- }
- var info = this.frameInfos[frameID];
- if (info) {
- info.transform = new Transform({
- translation : transform.transform.translation,
- rotation : transform.transform.rotation
- });
- info.cbs.forEach(function(cb) {
- cb(info.transform);
- });
- }
- }, this);
-};
-
-/**
- * Create and send a new goal (or service request) to the tf2_web_republisher
- * based on the current list of TFs.
- */
-TFClient.prototype.updateGoal = function() {
- var goalMessage = {
- source_frames : Object.keys(this.frameInfos),
- target_frame : this.fixedFrame,
- angular_thres : this.angularThres,
- trans_thres : this.transThres,
- rate : this.rate
- };
-
- // if we're running in groovy compatibility mode (the default)
- // then use the action interface to tf2_web_republisher
- if(this.ros.groovyCompatibility) {
- if (this.currentGoal) {
- this.currentGoal.cancel();
- }
- this.currentGoal = new Goal({
- actionClient : this.actionClient,
- goalMessage : goalMessage
- });
-
- this.currentGoal.on('feedback', this.processTFArray.bind(this));
- this.currentGoal.send();
- }
- else {
- // otherwise, use the service interface
- // The service interface has the same parameters as the action,
- // plus the timeout
- goalMessage.timeout = this.topicTimeout;
- var request = new ServiceRequest(goalMessage);
-
- this.serviceClient.callService(request, this.processResponse.bind(this));
- }
-
- this.republisherUpdateRequested = false;
-};
-
-/**
- * Process the service response and subscribe to the tf republisher
- * topic
- *
- * @param response the service response containing the topic name
- */
-TFClient.prototype.processResponse = function(response) {
- // if we subscribed to a topic before, unsubscribe so
- // the republisher stops publishing it
- if (this.currentTopic) {
- this.currentTopic.unsubscribe();
- }
-
- this.currentTopic = this.ros.Topic({
- name: response.topic_name,
- messageType: 'tf2_web_republisher/TFArray'
- });
- this.currentTopic.subscribe(this.processTFArray.bind(this));
-};
-
-/**
- * Subscribe to the given TF frame.
- *
- * @param frameID - the TF frame to subscribe to
- * @param callback - function with params:
- * * transform - the transform data
- */
-TFClient.prototype.subscribe = function(frameID, callback) {
- // remove leading slash, if it's there
- if (frameID[0] === '/')
- {
- frameID = frameID.substring(1);
- }
- // if there is no callback registered for the given frame, create emtpy callback list
- if (!this.frameInfos[frameID]) {
- this.frameInfos[frameID] = {
- cbs: []
- };
- if (!this.republisherUpdateRequested) {
- setTimeout(this.updateGoal.bind(this), this.updateDelay);
- this.republisherUpdateRequested = true;
- }
- }
- // if we already have a transform, call back immediately
- else if (this.frameInfos[frameID].transform) {
- callback(this.frameInfos[frameID].transform);
- }
- this.frameInfos[frameID].cbs.push(callback);
-};
-
-/**
- * Unsubscribe from the given TF frame.
- *
- * @param frameID - the TF frame to unsubscribe from
- * @param callback - the callback function to remove
- */
-TFClient.prototype.unsubscribe = function(frameID, callback) {
- // remove leading slash, if it's there
- if (frameID[0] === '/')
- {
- frameID = frameID.substring(1);
- }
- var info = this.frameInfos[frameID];
- for (var cbs = info && info.cbs || [], idx = cbs.length; idx--;) {
- if (cbs[idx] === callback) {
- cbs.splice(idx, 1);
- }
- }
- if (!callback || cbs.length === 0) {
- delete this.frameInfos[frameID];
- }
-};
-
-/**
- * Unsubscribe and unadvertise all topics associated with this TFClient.
- */
-TFClient.prototype.dispose = function() {
- this.actionClient.dispose();
- if (this.currentTopic) {
- this.currentTopic.unsubscribe();
- }
-};
-
-module.exports = TFClient;
-
-},{"../actionlib/ActionClient":5,"../actionlib/Goal":7,"../core/Service.js":13,"../core/ServiceRequest.js":14,"../math/Transform":21}],26:[function(require,module,exports){
-var Ros = require('../core/Ros');
-var mixin = require('../mixin');
-
-var tf = module.exports = {
- TFClient: require('./TFClient')
-};
-
-mixin(Ros, ['TFClient'], tf);
-},{"../core/Ros":12,"../mixin":24,"./TFClient":25}],27:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Benjamin Pitzer - ben.pitzer@gmail.com
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var Vector3 = require('../math/Vector3');
-var UrdfTypes = require('./UrdfTypes');
-
-/**
- * A Box element in a URDF.
- *
- * @constructor
- * @param options - object with following keys:
- * * xml - the XML element to parse
- */
-function UrdfBox(options) {
- this.dimension = null;
- this.type = UrdfTypes.URDF_BOX;
-
- // Parse the xml string
- var xyz = options.xml.getAttribute('size').split(' ');
- this.dimension = new Vector3({
- x : parseFloat(xyz[0]),
- y : parseFloat(xyz[1]),
- z : parseFloat(xyz[2])
- });
-}
-
-module.exports = UrdfBox;
-},{"../math/Vector3":22,"./UrdfTypes":36}],28:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Benjamin Pitzer - ben.pitzer@gmail.com
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-/**
- * A Color element in a URDF.
- *
- * @constructor
- * @param options - object with following keys:
- * * xml - the XML element to parse
- */
-function UrdfColor(options) {
- // Parse the xml string
- var rgba = options.xml.getAttribute('rgba').split(' ');
- this.r = parseFloat(rgba[0]);
- this.g = parseFloat(rgba[1]);
- this.b = parseFloat(rgba[2]);
- this.a = parseFloat(rgba[3]);
-}
-
-module.exports = UrdfColor;
-},{}],29:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Benjamin Pitzer - ben.pitzer@gmail.com
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var UrdfTypes = require('./UrdfTypes');
-
-/**
- * A Cylinder element in a URDF.
- *
- * @constructor
- * @param options - object with following keys:
- * * xml - the XML element to parse
- */
-function UrdfCylinder(options) {
- this.type = UrdfTypes.URDF_CYLINDER;
- this.length = parseFloat(options.xml.getAttribute('length'));
- this.radius = parseFloat(options.xml.getAttribute('radius'));
-}
-
-module.exports = UrdfCylinder;
-},{"./UrdfTypes":36}],30:[function(require,module,exports){
-/**
- * @fileOverview
- * @author David V. Lu!! davidvlu@gmail.com
- */
-
-/**
- * A Joint element in a URDF.
- *
- * @constructor
- * @param options - object with following keys:
- * * xml - the XML element to parse
- */
-function UrdfJoint(options) {
- this.name = options.xml.getAttribute('name');
- this.type = options.xml.getAttribute('type');
-
- var parents = options.xml.getElementsByTagName('parent');
- if(parents.length > 0) {
- this.parent = parents[0].getAttribute('link');
- }
-
- var children = options.xml.getElementsByTagName('child');
- if(children.length > 0) {
- this.child = children[0].getAttribute('link');
- }
-
- var limits = options.xml.getElementsByTagName('limit');
- if (limits.length > 0) {
- this.minval = parseFloat( limits[0].getAttribute('lower') );
- this.maxval = parseFloat( limits[0].getAttribute('upper') );
- }
-}
-
-module.exports = UrdfJoint;
-
-},{}],31:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Benjamin Pitzer - ben.pitzer@gmail.com
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var UrdfVisual = require('./UrdfVisual');
-
-/**
- * A Link element in a URDF.
- *
- * @constructor
- * @param options - object with following keys:
- * * xml - the XML element to parse
- */
-function UrdfLink(options) {
- this.name = options.xml.getAttribute('name');
- this.visuals = [];
- var visuals = options.xml.getElementsByTagName('visual');
-
- for( var i=0; i<visuals.length; i++ ) {
- this.visuals.push( new UrdfVisual({
- xml : visuals[i]
- }) );
- }
-}
-
-module.exports = UrdfLink;
-},{"./UrdfVisual":37}],32:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Benjamin Pitzer - ben.pitzer@gmail.com
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var UrdfColor = require('./UrdfColor');
-
-/**
- * A Material element in a URDF.
- *
- * @constructor
- * @param options - object with following keys:
- * * xml - the XML element to parse
- */
-function UrdfMaterial(options) {
- this.textureFilename = null;
- this.color = null;
-
- this.name = options.xml.getAttribute('name');
-
- // Texture
- var textures = options.xml.getElementsByTagName('texture');
- if (textures.length > 0) {
- this.textureFilename = textures[0].getAttribute('filename');
- }
-
- // Color
- var colors = options.xml.getElementsByTagName('color');
- if (colors.length > 0) {
- // Parse the RBGA string
- this.color = new UrdfColor({
- xml : colors[0]
- });
- }
-}
-
-UrdfMaterial.prototype.isLink = function() {
- return this.color === null && this.textureFilename === null;
-};
-
-var assign = require('object-assign');
-
-UrdfMaterial.prototype.assign = function(obj) {
- return assign(this, obj);
-};
-
-module.exports = UrdfMaterial;
-
-},{"./UrdfColor":28,"object-assign":2}],33:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Benjamin Pitzer - ben.pitzer@gmail.com
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var Vector3 = require('../math/Vector3');
-var UrdfTypes = require('./UrdfTypes');
-
-/**
- * A Mesh element in a URDF.
- *
- * @constructor
- * @param options - object with following keys:
- * * xml - the XML element to parse
- */
-function UrdfMesh(options) {
- this.scale = null;
-
- this.type = UrdfTypes.URDF_MESH;
- this.filename = options.xml.getAttribute('filename');
-
- // Check for a scale
- var scale = options.xml.getAttribute('scale');
- if (scale) {
- // Get the XYZ
- var xyz = scale.split(' ');
- this.scale = new Vector3({
- x : parseFloat(xyz[0]),
- y : parseFloat(xyz[1]),
- z : parseFloat(xyz[2])
- });
- }
-}
-
-module.exports = UrdfMesh;
-},{"../math/Vector3":22,"./UrdfTypes":36}],34:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Benjamin Pitzer - ben.pitzer@gmail.com
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var UrdfMaterial = require('./UrdfMaterial');
-var UrdfLink = require('./UrdfLink');
-var UrdfJoint = require('./UrdfJoint');
-var DOMParser = require('xmldom').DOMParser;
-
-// See https://developer.mozilla.org/docs/XPathResult#Constants
-var XPATH_FIRST_ORDERED_NODE_TYPE = 9;
-
-/**
- * A URDF Model can be used to parse a given URDF into the appropriate elements.
- *
- * @constructor
- * @param options - object with following keys:
- * * xml - the XML element to parse
- * * string - the XML element to parse as a string
- */
-function UrdfModel(options) {
- options = options || {};
- var xmlDoc = options.xml;
- var string = options.string;
- this.materials = {};
- this.links = {};
- this.joints = {};
-
- // Check if we are using a string or an XML element
- if (string) {
- // Parse the string
- var parser = new DOMParser();
- xmlDoc = parser.parseFromString(string, 'text/xml');
- }
-
- // Initialize the model with the given XML node.
- // Get the robot tag
- var robotXml = xmlDoc.documentElement;
-
- // Get the robot name
- this.name = robotXml.getAttribute('name');
-
- // Parse all the visual elements we need
- for (var nodes = robotXml.childNodes, i = 0; i < nodes.length; i++) {
- var node = nodes[i];
- if (node.tagName === 'material') {
- var material = new UrdfMaterial({
- xml : node
- });
- // Make sure this is unique
- if (this.materials[material.name] !== void 0) {
- if( this.materials[material.name].isLink() ) {
- this.materials[material.name].assign( material );
- } else {
- console.warn('Material ' + material.name + 'is not unique.');
- }
- } else {
- this.materials[material.name] = material;
- }
- } else if (node.tagName === 'link') {
- var link = new UrdfLink({
- xml : node
- });
- // Make sure this is unique
- if (this.links[link.name] !== void 0) {
- console.warn('Link ' + link.name + ' is not unique.');
- } else {
- // Check for a material
- for( var j=0; j<link.visuals.length; j++ )
- {
- var mat = link.visuals[j].material;
- if ( mat !== null ) {
- if (this.materials[mat.name] !== void 0) {
- link.visuals[j].material = this.materials[mat.name];
- } else {
- this.materials[mat.name] = mat;
- }
- }
- }
-
- // Add the link
- this.links[link.name] = link;
- }
- } else if (node.tagName === 'joint') {
- var joint = new UrdfJoint({
- xml : node
- });
- this.joints[joint.name] = joint;
- }
- }
-}
-
-module.exports = UrdfModel;
-
-},{"./UrdfJoint":30,"./UrdfLink":31,"./UrdfMaterial":32,"xmldom":42}],35:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Benjamin Pitzer - ben.pitzer@gmail.com
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var UrdfTypes = require('./UrdfTypes');
-
-/**
- * A Sphere element in a URDF.
- *
- * @constructor
- * @param options - object with following keys:
- * * xml - the XML element to parse
- */
-function UrdfSphere(options) {
- this.type = UrdfTypes.URDF_SPHERE;
- this.radius = parseFloat(options.xml.getAttribute('radius'));
-}
-
-module.exports = UrdfSphere;
-},{"./UrdfTypes":36}],36:[function(require,module,exports){
-module.exports = {
- URDF_SPHERE : 0,
- URDF_BOX : 1,
- URDF_CYLINDER : 2,
- URDF_MESH : 3
-};
-
-},{}],37:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Benjamin Pitzer - ben.pitzer@gmail.com
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var Pose = require('../math/Pose');
-var Vector3 = require('../math/Vector3');
-var Quaternion = require('../math/Quaternion');
-
-var UrdfCylinder = require('./UrdfCylinder');
-var UrdfBox = require('./UrdfBox');
-var UrdfMaterial = require('./UrdfMaterial');
-var UrdfMesh = require('./UrdfMesh');
-var UrdfSphere = require('./UrdfSphere');
-
-/**
- * A Visual element in a URDF.
- *
- * @constructor
- * @param options - object with following keys:
- * * xml - the XML element to parse
- */
-function UrdfVisual(options) {
- var xml = options.xml;
- this.origin = null;
- this.geometry = null;
- this.material = null;
-
- // Origin
- var origins = xml.getElementsByTagName('origin');
- if (origins.length === 0) {
- // use the identity as the default
- this.origin = new Pose();
- } else {
- // Check the XYZ
- var xyz = origins[0].getAttribute('xyz');
- var position = new Vector3();
- if (xyz) {
- xyz = xyz.split(' ');
- position = new Vector3({
- x : parseFloat(xyz[0]),
- y : parseFloat(xyz[1]),
- z : parseFloat(xyz[2])
- });
- }
-
- // Check the RPY
- var rpy = origins[0].getAttribute('rpy');
- var orientation = new Quaternion();
- if (rpy) {
- rpy = rpy.split(' ');
- // Convert from RPY
- var roll = parseFloat(rpy[0]);
- var pitch = parseFloat(rpy[1]);
- var yaw = parseFloat(rpy[2]);
- var phi = roll / 2.0;
- var the = pitch / 2.0;
- var psi = yaw / 2.0;
- var x = Math.sin(phi) * Math.cos(the) * Math.cos(psi) - Math.cos(phi) * Math.sin(the)
- * Math.sin(psi);
- var y = Math.cos(phi) * Math.sin(the) * Math.cos(psi) + Math.sin(phi) * Math.cos(the)
- * Math.sin(psi);
- var z = Math.cos(phi) * Math.cos(the) * Math.sin(psi) - Math.sin(phi) * Math.sin(the)
- * Math.cos(psi);
- var w = Math.cos(phi) * Math.cos(the) * Math.cos(psi) + Math.sin(phi) * Math.sin(the)
- * Math.sin(psi);
-
- orientation = new Quaternion({
- x : x,
- y : y,
- z : z,
- w : w
- });
- orientation.normalize();
- }
- this.origin = new Pose({
- position : position,
- orientation : orientation
- });
- }
-
- // Geometry
- var geoms = xml.getElementsByTagName('geometry');
- if (geoms.length > 0) {
- var geom = geoms[0];
- var shape = null;
- // Check for the shape
- for (var i = 0; i < geom.childNodes.length; i++) {
- var node = geom.childNodes[i];
- if (node.nodeType === 1) {
- shape = node;
- break;
- }
- }
- // Check the type
- var type = shape.nodeName;
- if (type === 'sphere') {
- this.geometry = new UrdfSphere({
- xml : shape
- });
- } else if (type === 'box') {
- this.geometry = new UrdfBox({
- xml : shape
- });
- } else if (type === 'cylinder') {
- this.geometry = new UrdfCylinder({
- xml : shape
- });
- } else if (type === 'mesh') {
- this.geometry = new UrdfMesh({
- xml : shape
- });
- } else {
- console.warn('Unknown geometry type ' + type);
- }
- }
-
- // Material
- var materials = xml.getElementsByTagName('material');
- if (materials.length > 0) {
- this.material = new UrdfMaterial({
- xml : materials[0]
- });
- }
-}
-
-module.exports = UrdfVisual;
-},{"../math/Pose":19,"../math/Quaternion":20,"../math/Vector3":22,"./UrdfBox":27,"./UrdfCylinder":29,"./UrdfMaterial":32,"./UrdfMesh":33,"./UrdfSphere":35}],38:[function(require,module,exports){
-module.exports = require('object-assign')({
- UrdfBox: require('./UrdfBox'),
- UrdfColor: require('./UrdfColor'),
- UrdfCylinder: require('./UrdfCylinder'),
- UrdfLink: require('./UrdfLink'),
- UrdfMaterial: require('./UrdfMaterial'),
- UrdfMesh: require('./UrdfMesh'),
- UrdfModel: require('./UrdfModel'),
- UrdfSphere: require('./UrdfSphere'),
- UrdfVisual: require('./UrdfVisual')
-}, require('./UrdfTypes'));
-
-},{"./UrdfBox":27,"./UrdfColor":28,"./UrdfCylinder":29,"./UrdfLink":31,"./UrdfMaterial":32,"./UrdfMesh":33,"./UrdfModel":34,"./UrdfSphere":35,"./UrdfTypes":36,"./UrdfVisual":37,"object-assign":2}],39:[function(require,module,exports){
-(function (global){
-module.exports = global.WebSocket;
-}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{}],40:[function(require,module,exports){
-/* global document */
-module.exports = function Canvas() {
- return document.createElement('canvas');
-};
-},{}],41:[function(require,module,exports){
-(function (global){
-/**
- * @fileOverview
- * @author Graeme Yeates - github.com/megawac
- */
-
-'use strict';
-
-var Canvas = require('canvas');
-var Image = Canvas.Image || global.Image;
-
-/**
- * If a message was compressed as a PNG image (a compression hack since
- * gzipping over WebSockets * is not supported yet), this function places the
- * "image" in a canvas element then decodes the * "image" as a Base64 string.
- *
- * @private
- * @param data - object containing the PNG data.
- * @param callback - function with params:
- * * data - the uncompressed data
- */
-function decompressPng(data, callback) {
- // Uncompresses the data before sending it through (use image/canvas to do so).
- var image = new Image();
- // When the image loads, extracts the raw data (JSON message).
- image.onload = function() {
- // Creates a local canvas to draw on.
- var canvas = new Canvas();
- var context = canvas.getContext('2d');
-
- // Sets width and height.
- canvas.width = image.width;
- canvas.height = image.height;
-
- // Prevents anti-aliasing and loosing data
- context.imageSmoothingEnabled = false;
- context.webkitImageSmoothingEnabled = false;
- context.mozImageSmoothingEnabled = false;
-
- // Puts the data into the image.
- context.drawImage(image, 0, 0);
- // Grabs the raw, uncompressed data.
- var imageData = context.getImageData(0, 0, image.width, image.height).data;
-
- // Constructs the JSON.
- var jsonData = '';
- for (var i = 0; i < imageData.length; i += 4) {
- // RGB
- jsonData += String.fromCharCode(imageData[i], imageData[i + 1], imageData[i + 2]);
- }
- callback(JSON.parse(jsonData));
- };
- // Sends the image data to load.
- image.src = 'data:image/png;base64,' + data;
-}
-
-module.exports = decompressPng;
-}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{"canvas":40}],42:[function(require,module,exports){
-(function (global){
-exports.DOMImplementation = global.DOMImplementation;
-exports.XMLSerializer = global.XMLSerializer;
-exports.DOMParser = global.DOMParser;
-}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{}]},{},[4]);
+\r
+},{}],2:[function(require,module,exports){\r
+/*\r
+object-assign\r
+(c) Sindre Sorhus\r
+@license MIT\r
+*/\r
+\r
+'use strict';\r
+/* eslint-disable no-unused-vars */\r
+var getOwnPropertySymbols = Object.getOwnPropertySymbols;\r
+var hasOwnProperty = Object.prototype.hasOwnProperty;\r
+var propIsEnumerable = Object.prototype.propertyIsEnumerable;\r
+\r
+function toObject(val) {\r
+ if (val === null || val === undefined) {\r
+ throw new TypeError('Object.assign cannot be called with null or undefined');\r
+ }\r
+\r
+ return Object(val);\r
+}\r
+\r
+function shouldUseNative() {\r
+ try {\r
+ if (!Object.assign) {\r
+ return false;\r
+ }\r
+\r
+ // Detect buggy property enumeration order in older V8 versions.\r
+\r
+ // https://bugs.chromium.org/p/v8/issues/detail?id=4118\r
+ var test1 = new String('abc'); // eslint-disable-line no-new-wrappers\r
+ test1[5] = 'de';\r
+ if (Object.getOwnPropertyNames(test1)[0] === '5') {\r
+ return false;\r
+ }\r
+\r
+ // https://bugs.chromium.org/p/v8/issues/detail?id=3056\r
+ var test2 = {};\r
+ for (var i = 0; i < 10; i++) {\r
+ test2['_' + String.fromCharCode(i)] = i;\r
+ }\r
+ var order2 = Object.getOwnPropertyNames(test2).map(function (n) {\r
+ return test2[n];\r
+ });\r
+ if (order2.join('') !== '0123456789') {\r
+ return false;\r
+ }\r
+\r
+ // https://bugs.chromium.org/p/v8/issues/detail?id=3056\r
+ var test3 = {};\r
+ 'abcdefghijklmnopqrst'.split('').forEach(function (letter) {\r
+ test3[letter] = letter;\r
+ });\r
+ if (Object.keys(Object.assign({}, test3)).join('') !==\r
+ 'abcdefghijklmnopqrst') {\r
+ return false;\r
+ }\r
+\r
+ return true;\r
+ } catch (err) {\r
+ // We don't expect any of the above to throw, but better to be safe.\r
+ return false;\r
+ }\r
+}\r
+\r
+module.exports = shouldUseNative() ? Object.assign : function (target, source) {\r
+ var from;\r
+ var to = toObject(target);\r
+ var symbols;\r
+\r
+ for (var s = 1; s < arguments.length; s++) {\r
+ from = Object(arguments[s]);\r
+\r
+ for (var key in from) {\r
+ if (hasOwnProperty.call(from, key)) {\r
+ to[key] = from[key];\r
+ }\r
+ }\r
+\r
+ if (getOwnPropertySymbols) {\r
+ symbols = getOwnPropertySymbols(from);\r
+ for (var i = 0; i < symbols.length; i++) {\r
+ if (propIsEnumerable.call(from, symbols[i])) {\r
+ to[symbols[i]] = from[symbols[i]];\r
+ }\r
+ }\r
+ }\r
+ }\r
+\r
+ return to;\r
+};\r
+\r
+},{}],3:[function(require,module,exports){\r
+/**\r
+ * @fileOverview\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+/**\r
+ * If you use roslib in a browser, all the classes will be exported to a global variable called ROSLIB.\r
+ *\r
+ * If you use nodejs, this is the variable you get when you require('roslib')\r
+ */\r
+var ROSLIB = this.ROSLIB || {\r
+ REVISION : '0.20.0'\r
+};\r
+\r
+var assign = require('object-assign');\r
+\r
+// Add core components\r
+assign(ROSLIB, require('./core'));\r
+\r
+assign(ROSLIB, require('./actionlib'));\r
+\r
+assign(ROSLIB, require('./math'));\r
+\r
+assign(ROSLIB, require('./tf'));\r
+\r
+assign(ROSLIB, require('./urdf'));\r
+\r
+module.exports = ROSLIB;\r
+\r
+},{"./actionlib":9,"./core":18,"./math":23,"./tf":26,"./urdf":38,"object-assign":2}],4:[function(require,module,exports){\r
+(function (global){\r
+global.ROSLIB = require('./RosLib');\r
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})\r
+},{"./RosLib":3}],5:[function(require,module,exports){\r
+/**\r
+ * @fileOverview\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var Topic = require('../core/Topic');\r
+var Message = require('../core/Message');\r
+var EventEmitter2 = require('eventemitter2').EventEmitter2;\r
+\r
+/**\r
+ * An actionlib action client.\r
+ *\r
+ * Emits the following events:\r
+ * * 'timeout' - if a timeout occurred while sending a goal\r
+ * * 'status' - the status messages received from the action server\r
+ * * 'feedback' - the feedback messages received from the action server\r
+ * * 'result' - the result returned from the action server\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * ros - the ROSLIB.Ros connection handle\r
+ * * serverName - the action server name, like /fibonacci\r
+ * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'\r
+ * * timeout - the timeout length when connecting to the action server\r
+ */\r
+function ActionClient(options) {\r
+ var that = this;\r
+ options = options || {};\r
+ this.ros = options.ros;\r
+ this.serverName = options.serverName;\r
+ this.actionName = options.actionName;\r
+ this.timeout = options.timeout;\r
+ this.omitFeedback = options.omitFeedback;\r
+ this.omitStatus = options.omitStatus;\r
+ this.omitResult = options.omitResult;\r
+ this.goals = {};\r
+\r
+ // flag to check if a status has been received\r
+ var receivedStatus = false;\r
+\r
+ // create the topics associated with actionlib\r
+ this.feedbackListener = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/feedback',\r
+ messageType : this.actionName + 'Feedback'\r
+ });\r
+\r
+ this.statusListener = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/status',\r
+ messageType : 'actionlib_msgs/GoalStatusArray'\r
+ });\r
+\r
+ this.resultListener = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/result',\r
+ messageType : this.actionName + 'Result'\r
+ });\r
+\r
+ this.goalTopic = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/goal',\r
+ messageType : this.actionName + 'Goal'\r
+ });\r
+\r
+ this.cancelTopic = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/cancel',\r
+ messageType : 'actionlib_msgs/GoalID'\r
+ });\r
+\r
+ // advertise the goal and cancel topics\r
+ this.goalTopic.advertise();\r
+ this.cancelTopic.advertise();\r
+\r
+ // subscribe to the status topic\r
+ if (!this.omitStatus) {\r
+ this.statusListener.subscribe(function(statusMessage) {\r
+ receivedStatus = true;\r
+ statusMessage.status_list.forEach(function(status) {\r
+ var goal = that.goals[status.goal_id.id];\r
+ if (goal) {\r
+ goal.emit('status', status);\r
+ }\r
+ });\r
+ });\r
+ }\r
+\r
+ // subscribe the the feedback topic\r
+ if (!this.omitFeedback) {\r
+ this.feedbackListener.subscribe(function(feedbackMessage) {\r
+ var goal = that.goals[feedbackMessage.status.goal_id.id];\r
+ if (goal) {\r
+ goal.emit('status', feedbackMessage.status);\r
+ goal.emit('feedback', feedbackMessage.feedback);\r
+ }\r
+ });\r
+ }\r
+\r
+ // subscribe to the result topic\r
+ if (!this.omitResult) {\r
+ this.resultListener.subscribe(function(resultMessage) {\r
+ var goal = that.goals[resultMessage.status.goal_id.id];\r
+\r
+ if (goal) {\r
+ goal.emit('status', resultMessage.status);\r
+ goal.emit('result', resultMessage.result);\r
+ }\r
+ });\r
+ }\r
+\r
+ // If timeout specified, emit a 'timeout' event if the action server does not respond\r
+ if (this.timeout) {\r
+ setTimeout(function() {\r
+ if (!receivedStatus) {\r
+ that.emit('timeout');\r
+ }\r
+ }, this.timeout);\r
+ }\r
+}\r
+\r
+ActionClient.prototype.__proto__ = EventEmitter2.prototype;\r
+\r
+/**\r
+ * Cancel all goals associated with this ActionClient.\r
+ */\r
+ActionClient.prototype.cancel = function() {\r
+ var cancelMessage = new Message();\r
+ this.cancelTopic.publish(cancelMessage);\r
+};\r
+\r
+/**\r
+ * Unsubscribe and unadvertise all topics associated with this ActionClient.\r
+ */\r
+ActionClient.prototype.dispose = function() {\r
+ this.goalTopic.unadvertise();\r
+ this.cancelTopic.unadvertise();\r
+ if (!this.omitStatus) {this.statusListener.unsubscribe();}\r
+ if (!this.omitFeedback) {this.feedbackListener.unsubscribe();}\r
+ if (!this.omitResult) {this.resultListener.unsubscribe();}\r
+};\r
+\r
+module.exports = ActionClient;\r
+\r
+},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],6:[function(require,module,exports){\r
+/**\r
+ * @fileOverview\r
+ * @author Justin Young - justin@oodar.com.au\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var Topic = require('../core/Topic');\r
+var Message = require('../core/Message');\r
+var EventEmitter2 = require('eventemitter2').EventEmitter2;\r
+\r
+/**\r
+ * An actionlib action listener\r
+ *\r
+ * Emits the following events:\r
+ * * 'status' - the status messages received from the action server\r
+ * * 'feedback' - the feedback messages received from the action server\r
+ * * 'result' - the result returned from the action server\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * ros - the ROSLIB.Ros connection handle\r
+ * * serverName - the action server name, like /fibonacci\r
+ * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'\r
+ */\r
+function ActionListener(options) {\r
+ var that = this;\r
+ options = options || {};\r
+ this.ros = options.ros;\r
+ this.serverName = options.serverName;\r
+ this.actionName = options.actionName;\r
+ this.timeout = options.timeout;\r
+ this.omitFeedback = options.omitFeedback;\r
+ this.omitStatus = options.omitStatus;\r
+ this.omitResult = options.omitResult;\r
+\r
+\r
+ // create the topics associated with actionlib\r
+ var goalListener = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/goal',\r
+ messageType : this.actionName + 'Goal'\r
+ });\r
+\r
+ var feedbackListener = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/feedback',\r
+ messageType : this.actionName + 'Feedback'\r
+ });\r
+\r
+ var statusListener = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/status',\r
+ messageType : 'actionlib_msgs/GoalStatusArray'\r
+ });\r
+\r
+ var resultListener = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/result',\r
+ messageType : this.actionName + 'Result'\r
+ });\r
+\r
+ goalListener.subscribe(function(goalMessage) {\r
+ that.emit('goal', goalMessage);\r
+ });\r
+\r
+ statusListener.subscribe(function(statusMessage) {\r
+ statusMessage.status_list.forEach(function(status) {\r
+ that.emit('status', status);\r
+ });\r
+ });\r
+\r
+ feedbackListener.subscribe(function(feedbackMessage) {\r
+ that.emit('status', feedbackMessage.status);\r
+ that.emit('feedback', feedbackMessage.feedback);\r
+ });\r
+\r
+ // subscribe to the result topic\r
+ resultListener.subscribe(function(resultMessage) {\r
+ that.emit('status', resultMessage.status);\r
+ that.emit('result', resultMessage.result);\r
+ });\r
+\r
+}\r
+\r
+ActionListener.prototype.__proto__ = EventEmitter2.prototype;\r
+\r
+module.exports = ActionListener;\r
+\r
+},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],7:[function(require,module,exports){\r
+/**\r
+ * @fileOverview\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var Message = require('../core/Message');\r
+var EventEmitter2 = require('eventemitter2').EventEmitter2;\r
+\r
+/**\r
+ * An actionlib goal goal is associated with an action server.\r
+ *\r
+ * Emits the following events:\r
+ * * 'timeout' - if a timeout occurred while sending a goal\r
+ *\r
+ * @constructor\r
+ * @param object with following keys:\r
+ * * actionClient - the ROSLIB.ActionClient to use with this goal\r
+ * * goalMessage - The JSON object containing the goal for the action server\r
+ */\r
+function Goal(options) {\r
+ var that = this;\r
+ this.actionClient = options.actionClient;\r
+ this.goalMessage = options.goalMessage;\r
+ this.isFinished = false;\r
+\r
+ // Used to create random IDs\r
+ var date = new Date();\r
+\r
+ // Create a random ID\r
+ this.goalID = 'goal_' + Math.random() + '_' + date.getTime();\r
+ // Fill in the goal message\r
+ this.goalMessage = new Message({\r
+ goal_id : {\r
+ stamp : {\r
+ secs : 0,\r
+ nsecs : 0\r
+ },\r
+ id : this.goalID\r
+ },\r
+ goal : this.goalMessage\r
+ });\r
+\r
+ this.on('status', function(status) {\r
+ that.status = status;\r
+ });\r
+\r
+ this.on('result', function(result) {\r
+ that.isFinished = true;\r
+ that.result = result;\r
+ });\r
+\r
+ this.on('feedback', function(feedback) {\r
+ that.feedback = feedback;\r
+ });\r
+\r
+ // Add the goal\r
+ this.actionClient.goals[this.goalID] = this;\r
+}\r
+\r
+Goal.prototype.__proto__ = EventEmitter2.prototype;\r
+\r
+/**\r
+ * Send the goal to the action server.\r
+ *\r
+ * @param timeout (optional) - a timeout length for the goal's result\r
+ */\r
+Goal.prototype.send = function(timeout) {\r
+ var that = this;\r
+ that.actionClient.goalTopic.publish(that.goalMessage);\r
+ if (timeout) {\r
+ setTimeout(function() {\r
+ if (!that.isFinished) {\r
+ that.emit('timeout');\r
+ }\r
+ }, timeout);\r
+ }\r
+};\r
+\r
+/**\r
+ * Cancel the current goal.\r
+ */\r
+Goal.prototype.cancel = function() {\r
+ var cancelMessage = new Message({\r
+ id : this.goalID\r
+ });\r
+ this.actionClient.cancelTopic.publish(cancelMessage);\r
+};\r
+\r
+module.exports = Goal;\r
+},{"../core/Message":10,"eventemitter2":1}],8:[function(require,module,exports){\r
+/**\r
+ * @fileOverview\r
+ * @author Laura Lindzey - lindzey@gmail.com\r
+ */\r
+\r
+var Topic = require('../core/Topic');\r
+var Message = require('../core/Message');\r
+var EventEmitter2 = require('eventemitter2').EventEmitter2;\r
+\r
+/**\r
+ * An actionlib action server client.\r
+ *\r
+ * Emits the following events:\r
+ * * 'goal' - goal sent by action client\r
+ * * 'cancel' - action client has canceled the request\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * ros - the ROSLIB.Ros connection handle\r
+ * * serverName - the action server name, like /fibonacci\r
+ * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'\r
+ */\r
+\r
+function SimpleActionServer(options) {\r
+ var that = this;\r
+ options = options || {};\r
+ this.ros = options.ros;\r
+ this.serverName = options.serverName;\r
+ this.actionName = options.actionName;\r
+\r
+ // create and advertise publishers\r
+ this.feedbackPublisher = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/feedback',\r
+ messageType : this.actionName + 'Feedback'\r
+ });\r
+ this.feedbackPublisher.advertise();\r
+\r
+ var statusPublisher = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/status',\r
+ messageType : 'actionlib_msgs/GoalStatusArray'\r
+ });\r
+ statusPublisher.advertise();\r
+\r
+ this.resultPublisher = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/result',\r
+ messageType : this.actionName + 'Result'\r
+ });\r
+ this.resultPublisher.advertise();\r
+\r
+ // create and subscribe to listeners\r
+ var goalListener = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/goal',\r
+ messageType : this.actionName + 'Goal'\r
+ });\r
+\r
+ var cancelListener = new Topic({\r
+ ros : this.ros,\r
+ name : this.serverName + '/cancel',\r
+ messageType : 'actionlib_msgs/GoalID'\r
+ });\r
+\r
+ // Track the goals and their status in order to publish status...\r
+ this.statusMessage = new Message({\r
+ header : {\r
+ stamp : {secs : 0, nsecs : 100},\r
+ frame_id : ''\r
+ },\r
+ status_list : []\r
+ });\r
+\r
+ // needed for handling preemption prompted by a new goal being received\r
+ this.currentGoal = null; // currently tracked goal\r
+ this.nextGoal = null; // the one that'll be preempting\r
+\r
+ goalListener.subscribe(function(goalMessage) {\r
+ \r
+ if(that.currentGoal) {\r
+ that.nextGoal = goalMessage;\r
+ // needs to happen AFTER rest is set up\r
+ that.emit('cancel');\r
+ } else {\r
+ that.statusMessage.status_list = [{goal_id : goalMessage.goal_id, status : 1}];\r
+ that.currentGoal = goalMessage;\r
+ that.emit('goal', goalMessage.goal);\r
+ }\r
+ });\r
+\r
+ // helper function for determing ordering of timestamps\r
+ // returns t1 < t2\r
+ var isEarlier = function(t1, t2) {\r
+ if(t1.secs > t2.secs) {\r
+ return false;\r
+ } else if(t1.secs < t2.secs) {\r
+ return true;\r
+ } else if(t1.nsecs < t2.nsecs) {\r
+ return true;\r
+ } else {\r
+ return false;\r
+ }\r
+ };\r
+\r
+ // TODO: this may be more complicated than necessary, since I'm\r
+ // not sure if the callbacks can ever wind up with a scenario\r
+ // where we've been preempted by a next goal, it hasn't finished\r
+ // processing, and then we get a cancel message\r
+ cancelListener.subscribe(function(cancelMessage) {\r
+\r
+ // cancel ALL goals if both empty\r
+ if(cancelMessage.stamp.secs === 0 && cancelMessage.stamp.secs === 0 && cancelMessage.id === '') {\r
+ that.nextGoal = null;\r
+ if(that.currentGoal) {\r
+ that.emit('cancel');\r
+ }\r
+ } else { // treat id and stamp independently\r
+ if(that.currentGoal && cancelMessage.id === that.currentGoal.goal_id.id) {\r
+ that.emit('cancel');\r
+ } else if(that.nextGoal && cancelMessage.id === that.nextGoal.goal_id.id) {\r
+ that.nextGoal = null;\r
+ }\r
+\r
+ if(that.nextGoal && isEarlier(that.nextGoal.goal_id.stamp,\r
+ cancelMessage.stamp)) {\r
+ that.nextGoal = null;\r
+ }\r
+ if(that.currentGoal && isEarlier(that.currentGoal.goal_id.stamp,\r
+ cancelMessage.stamp)) {\r
+ \r
+ that.emit('cancel');\r
+ }\r
+ }\r
+ });\r
+\r
+ // publish status at pseudo-fixed rate; required for clients to know they've connected\r
+ var statusInterval = setInterval( function() {\r
+ var currentTime = new Date();\r
+ var secs = Math.floor(currentTime.getTime()/1000);\r
+ var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs));\r
+ that.statusMessage.header.stamp.secs = secs;\r
+ that.statusMessage.header.stamp.nsecs = nsecs;\r
+ statusPublisher.publish(that.statusMessage);\r
+ }, 500); // publish every 500ms\r
+\r
+}\r
+\r
+SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;\r
+\r
+/**\r
+* Set action state to succeeded and return to client\r
+*/\r
+\r
+SimpleActionServer.prototype.setSucceeded = function(result2) {\r
+ \r
+\r
+ var resultMessage = new Message({\r
+ status : {goal_id : this.currentGoal.goal_id, status : 3},\r
+ result : result2\r
+ });\r
+ this.resultPublisher.publish(resultMessage);\r
+\r
+ this.statusMessage.status_list = [];\r
+ if(this.nextGoal) {\r
+ this.currentGoal = this.nextGoal;\r
+ this.nextGoal = null;\r
+ this.emit('goal', this.currentGoal.goal);\r
+ } else {\r
+ this.currentGoal = null;\r
+ }\r
+};\r
+\r
+/**\r
+* Function to send feedback\r
+*/\r
+\r
+SimpleActionServer.prototype.sendFeedback = function(feedback2) {\r
+\r
+ var feedbackMessage = new Message({\r
+ status : {goal_id : this.currentGoal.goal_id, status : 1},\r
+ feedback : feedback2\r
+ });\r
+ this.feedbackPublisher.publish(feedbackMessage);\r
+};\r
+\r
+/**\r
+* Handle case where client requests preemption\r
+*/\r
+\r
+SimpleActionServer.prototype.setPreempted = function() {\r
+\r
+ this.statusMessage.status_list = [];\r
+ var resultMessage = new Message({\r
+ status : {goal_id : this.currentGoal.goal_id, status : 2},\r
+ });\r
+ this.resultPublisher.publish(resultMessage);\r
+\r
+ if(this.nextGoal) {\r
+ this.currentGoal = this.nextGoal;\r
+ this.nextGoal = null;\r
+ this.emit('goal', this.currentGoal.goal);\r
+ } else {\r
+ this.currentGoal = null;\r
+ }\r
+};\r
+\r
+module.exports = SimpleActionServer;\r
+},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],9:[function(require,module,exports){\r
+var Ros = require('../core/Ros');\r
+var mixin = require('../mixin');\r
+\r
+var action = module.exports = {\r
+ ActionClient: require('./ActionClient'),\r
+ ActionListener: require('./ActionListener'),\r
+ Goal: require('./Goal'),\r
+ SimpleActionServer: require('./SimpleActionServer')\r
+};\r
+\r
+mixin(Ros, ['ActionClient', 'SimpleActionServer'], action);\r
+\r
+},{"../core/Ros":12,"../mixin":24,"./ActionClient":5,"./ActionListener":6,"./Goal":7,"./SimpleActionServer":8}],10:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author Brandon Alexander - baalexander@gmail.com\r
+ */\r
+\r
+var assign = require('object-assign');\r
+\r
+/**\r
+ * Message objects are used for publishing and subscribing to and from topics.\r
+ *\r
+ * @constructor\r
+ * @param values - object matching the fields defined in the .msg definition file\r
+ */\r
+function Message(values) {\r
+ assign(this, values);\r
+}\r
+\r
+module.exports = Message;\r
+},{"object-assign":2}],11:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author Brandon Alexander - baalexander@gmail.com\r
+ */\r
+\r
+var Service = require('./Service');\r
+var ServiceRequest = require('./ServiceRequest');\r
+\r
+/**\r
+ * A ROS parameter.\r
+ *\r
+ * @constructor\r
+ * @param options - possible keys include:\r
+ * * ros - the ROSLIB.Ros connection handle\r
+ * * name - the param name, like max_vel_x\r
+ */\r
+function Param(options) {\r
+ options = options || {};\r
+ this.ros = options.ros;\r
+ this.name = options.name;\r
+}\r
+\r
+/**\r
+ * Fetches the value of the param.\r
+ *\r
+ * @param callback - function with the following params:\r
+ * * value - the value of the param from ROS.\r
+ */\r
+Param.prototype.get = function(callback) {\r
+ var paramClient = new Service({\r
+ ros : this.ros,\r
+ name : '/rosapi/get_param',\r
+ serviceType : 'rosapi/GetParam'\r
+ });\r
+\r
+ var request = new ServiceRequest({\r
+ name : this.name\r
+ });\r
+\r
+ paramClient.callService(request, function(result) {\r
+ var value = JSON.parse(result.value);\r
+ callback(value);\r
+ });\r
+};\r
+\r
+/**\r
+ * Sets the value of the param in ROS.\r
+ *\r
+ * @param value - value to set param to.\r
+ */\r
+Param.prototype.set = function(value, callback) {\r
+ var paramClient = new Service({\r
+ ros : this.ros,\r
+ name : '/rosapi/set_param',\r
+ serviceType : 'rosapi/SetParam'\r
+ });\r
+\r
+ var request = new ServiceRequest({\r
+ name : this.name,\r
+ value : JSON.stringify(value)\r
+ });\r
+\r
+ paramClient.callService(request, callback);\r
+};\r
+\r
+/**\r
+ * Delete this parameter on the ROS server.\r
+ */\r
+Param.prototype.delete = function(callback) {\r
+ var paramClient = new Service({\r
+ ros : this.ros,\r
+ name : '/rosapi/delete_param',\r
+ serviceType : 'rosapi/DeleteParam'\r
+ });\r
+\r
+ var request = new ServiceRequest({\r
+ name : this.name\r
+ });\r
+\r
+ paramClient.callService(request, callback);\r
+};\r
+\r
+module.exports = Param;\r
+},{"./Service":13,"./ServiceRequest":14}],12:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author Brandon Alexander - baalexander@gmail.com\r
+ */\r
+\r
+var WebSocket = require('ws');\r
+var socketAdapter = require('./SocketAdapter.js');\r
+\r
+var Service = require('./Service');\r
+var ServiceRequest = require('./ServiceRequest');\r
+\r
+var assign = require('object-assign');\r
+var EventEmitter2 = require('eventemitter2').EventEmitter2;\r
+\r
+/**\r
+ * Manages connection to the server and all interactions with ROS.\r
+ *\r
+ * Emits the following events:\r
+ * * 'error' - there was an error with ROS\r
+ * * 'connection' - connected to the WebSocket server\r
+ * * 'close' - disconnected to the WebSocket server\r
+ * * <topicName> - a message came from rosbridge with the given topic name\r
+ * * <serviceID> - a service response came from rosbridge with the given ID\r
+ *\r
+ * @constructor\r
+ * @param options - possible keys include: <br>\r
+ * * url (optional) - (can be specified later with `connect`) the WebSocket URL for rosbridge or the node server url to connect using socket.io (if socket.io exists in the page) <br>\r
+ * * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true)\r
+ * * transportLibrary (optional) - one of 'websocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`.\r
+ * * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.\r
+ */\r
+function Ros(options) {\r
+ options = options || {};\r
+ this.socket = null;\r
+ this.idCounter = 0;\r
+ this.isConnected = false;\r
+ this.transportLibrary = options.transportLibrary || 'websocket';\r
+ this.transportOptions = options.transportOptions || {};\r
+\r
+ if (typeof options.groovyCompatibility === 'undefined') {\r
+ this.groovyCompatibility = true;\r
+ }\r
+ else {\r
+ this.groovyCompatibility = options.groovyCompatibility;\r
+ }\r
+\r
+ // Sets unlimited event listeners.\r
+ this.setMaxListeners(0);\r
+\r
+ // begin by checking if a URL was given\r
+ if (options.url) {\r
+ this.connect(options.url);\r
+ }\r
+}\r
+\r
+Ros.prototype.__proto__ = EventEmitter2.prototype;\r
+\r
+/**\r
+ * Connect to the specified WebSocket.\r
+ *\r
+ * @param url - WebSocket URL or RTCDataChannel label for Rosbridge\r
+ */\r
+Ros.prototype.connect = function(url) {\r
+ if (this.transportLibrary === 'socket.io') {\r
+ this.socket = assign(io(url, {'force new connection': true}), socketAdapter(this));\r
+ this.socket.on('connect', this.socket.onopen);\r
+ this.socket.on('data', this.socket.onmessage);\r
+ this.socket.on('close', this.socket.onclose);\r
+ this.socket.on('error', this.socket.onerror);\r
+ } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') {\r
+ this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), socketAdapter(this));\r
+ }else {\r
+ this.socket = assign(new WebSocket(url), socketAdapter(this));\r
+ }\r
+\r
+};\r
+\r
+/**\r
+ * Disconnect from the WebSocket server.\r
+ */\r
+Ros.prototype.close = function() {\r
+ if (this.socket) {\r
+ this.socket.close();\r
+ }\r
+};\r
+\r
+/**\r
+ * Sends an authorization request to the server.\r
+ *\r
+ * @param mac - MAC (hash) string given by the trusted source.\r
+ * @param client - IP of the client.\r
+ * @param dest - IP of the destination.\r
+ * @param rand - Random string given by the trusted source.\r
+ * @param t - Time of the authorization request.\r
+ * @param level - User level as a string given by the client.\r
+ * @param end - End time of the client's session.\r
+ */\r
+Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {\r
+ // create the request\r
+ var auth = {\r
+ op : 'auth',\r
+ mac : mac,\r
+ client : client,\r
+ dest : dest,\r
+ rand : rand,\r
+ t : t,\r
+ level : level,\r
+ end : end\r
+ };\r
+ // send the request\r
+ this.callOnConnection(auth);\r
+};\r
+\r
+/**\r
+ * Sends the message over the WebSocket, but queues the message up if not yet\r
+ * connected.\r
+ */\r
+Ros.prototype.callOnConnection = function(message) {\r
+ var that = this;\r
+ var messageJson = JSON.stringify(message);\r
+ var emitter = null;\r
+ if (this.transportLibrary === 'socket.io') {\r
+ emitter = function(msg){that.socket.emit('operation', msg);};\r
+ } else {\r
+ emitter = function(msg){that.socket.send(msg);};\r
+ }\r
+\r
+ if (!this.isConnected) {\r
+ that.once('connection', function() {\r
+ emitter(messageJson);\r
+ });\r
+ } else {\r
+ emitter(messageJson);\r
+ }\r
+};\r
+\r
+/**\r
+ * Sends a set_level request to the server\r
+ *\r
+ * @param level - Status level (none, error, warning, info)\r
+ * @param id - Optional: Operation ID to change status level on\r
+ */\r
+Ros.prototype.setStatusLevel = function(level, id){\r
+ var levelMsg = {\r
+ op: 'set_level',\r
+ level: level,\r
+ id: id\r
+ };\r
+\r
+ this.callOnConnection(levelMsg);\r
+};\r
+\r
+/**\r
+ * Retrieves Action Servers in ROS as an array of string\r
+ *\r
+ * * actionservers - Array of action server names\r
+ */\r
+Ros.prototype.getActionServers = function(callback, failedCallback) {\r
+ var getActionServers = new Service({\r
+ ros : this,\r
+ name : '/rosapi/action_servers',\r
+ serviceType : 'rosapi/GetActionServers'\r
+ });\r
+\r
+ var request = new ServiceRequest({});\r
+ if (typeof failedCallback === 'function'){\r
+ getActionServers.callService(request,\r
+ function(result) {\r
+ callback(result.action_servers);\r
+ },\r
+ function(message){\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ getActionServers.callService(request, function(result) {\r
+ callback(result.action_servers);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves list of topics in ROS as an array.\r
+ *\r
+ * @param callback function with params:\r
+ * * topics - Array of topic names\r
+ */\r
+Ros.prototype.getTopics = function(callback, failedCallback) {\r
+ var topicsClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/topics',\r
+ serviceType : 'rosapi/Topics'\r
+ });\r
+\r
+ var request = new ServiceRequest();\r
+ if (typeof failedCallback === 'function'){\r
+ topicsClient.callService(request,\r
+ function(result) {\r
+ callback(result);\r
+ },\r
+ function(message){\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ topicsClient.callService(request, function(result) {\r
+ callback(result);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves Topics in ROS as an array as specific type\r
+ *\r
+ * @param topicType topic type to find:\r
+ * @param callback function with params:\r
+ * * topics - Array of topic names\r
+ */\r
+Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {\r
+ var topicsForTypeClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/topics_for_type',\r
+ serviceType : 'rosapi/TopicsForType'\r
+ });\r
+\r
+ var request = new ServiceRequest({\r
+ type: topicType\r
+ });\r
+ if (typeof failedCallback === 'function'){\r
+ topicsForTypeClient.callService(request,\r
+ function(result) {\r
+ callback(result.topics);\r
+ },\r
+ function(message){\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ topicsForTypeClient.callService(request, function(result) {\r
+ callback(result.topics);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves list of active service names in ROS.\r
+ *\r
+ * @param callback - function with the following params:\r
+ * * services - array of service names\r
+ */\r
+Ros.prototype.getServices = function(callback, failedCallback) {\r
+ var servicesClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/services',\r
+ serviceType : 'rosapi/Services'\r
+ });\r
+\r
+ var request = new ServiceRequest();\r
+ if (typeof failedCallback === 'function'){\r
+ servicesClient.callService(request,\r
+ function(result) {\r
+ callback(result.services);\r
+ },\r
+ function(message) {\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ servicesClient.callService(request, function(result) {\r
+ callback(result.services);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves list of services in ROS as an array as specific type\r
+ *\r
+ * @param serviceType service type to find:\r
+ * @param callback function with params:\r
+ * * topics - Array of service names\r
+ */\r
+Ros.prototype.getServicesForType = function(serviceType, callback, failedCallback) {\r
+ var servicesForTypeClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/services_for_type',\r
+ serviceType : 'rosapi/ServicesForType'\r
+ });\r
+\r
+ var request = new ServiceRequest({\r
+ type: serviceType\r
+ });\r
+ if (typeof failedCallback === 'function'){\r
+ servicesForTypeClient.callService(request,\r
+ function(result) {\r
+ callback(result.services);\r
+ },\r
+ function(message) {\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ servicesForTypeClient.callService(request, function(result) {\r
+ callback(result.services);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves a detail of ROS service request.\r
+ *\r
+ * @param service name of service:\r
+ * @param callback - function with params:\r
+ * * type - String of the service type\r
+ */\r
+Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback) {\r
+ var serviceTypeClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/service_request_details',\r
+ serviceType : 'rosapi/ServiceRequestDetails'\r
+ });\r
+ var request = new ServiceRequest({\r
+ type: type\r
+ });\r
+\r
+ if (typeof failedCallback === 'function'){\r
+ serviceTypeClient.callService(request,\r
+ function(result) {\r
+ callback(result);\r
+ },\r
+ function(message){\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ serviceTypeClient.callService(request, function(result) {\r
+ callback(result);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves a detail of ROS service request.\r
+ *\r
+ * @param service name of service:\r
+ * @param callback - function with params:\r
+ * * type - String of the service type\r
+ */\r
+Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallback) {\r
+ var serviceTypeClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/service_response_details',\r
+ serviceType : 'rosapi/ServiceResponseDetails'\r
+ });\r
+ var request = new ServiceRequest({\r
+ type: type\r
+ });\r
+\r
+ if (typeof failedCallback === 'function'){\r
+ serviceTypeClient.callService(request,\r
+ function(result) {\r
+ callback(result);\r
+ },\r
+ function(message){\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ serviceTypeClient.callService(request, function(result) {\r
+ callback(result);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves list of active node names in ROS.\r
+ *\r
+ * @param callback - function with the following params:\r
+ * * nodes - array of node names\r
+ */\r
+Ros.prototype.getNodes = function(callback, failedCallback) {\r
+ var nodesClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/nodes',\r
+ serviceType : 'rosapi/Nodes'\r
+ });\r
+\r
+ var request = new ServiceRequest();\r
+ if (typeof failedCallback === 'function'){\r
+ nodesClient.callService(request,\r
+ function(result) {\r
+ callback(result.nodes);\r
+ },\r
+ function(message) {\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ nodesClient.callService(request, function(result) {\r
+ callback(result.nodes);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves list subscribed topics, publishing topics and services of a specific node\r
+ *\r
+ * @param node name of the node:\r
+ * @param callback - function with params:\r
+ * * publications - array of published topic names\r
+ * * subscriptions - array of subscribed topic names\r
+ * * services - array of service names hosted\r
+ */\r
+Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {\r
+ var nodesClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/node_details',\r
+ serviceType : 'rosapi/NodeDetails'\r
+ });\r
+\r
+ var request = new ServiceRequest({\r
+ node: node\r
+ });\r
+ if (typeof failedCallback === 'function'){\r
+ nodesClient.callService(request,\r
+ function(result) {\r
+ callback(result.subscribing, result.publishing, result.services);\r
+ },\r
+ function(message) {\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ } else {\r
+ nodesClient.callService(request, function(result) {\r
+ callback(result);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves list of param names from the ROS Parameter Server.\r
+ *\r
+ * @param callback function with params:\r
+ * * params - array of param names.\r
+ */\r
+Ros.prototype.getParams = function(callback, failedCallback) {\r
+ var paramsClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/get_param_names',\r
+ serviceType : 'rosapi/GetParamNames'\r
+ });\r
+ var request = new ServiceRequest();\r
+ if (typeof failedCallback === 'function'){\r
+ paramsClient.callService(request,\r
+ function(result) {\r
+ callback(result.names);\r
+ },\r
+ function(message){\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ paramsClient.callService(request, function(result) {\r
+ callback(result.names);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves a type of ROS topic.\r
+ *\r
+ * @param topic name of the topic:\r
+ * @param callback - function with params:\r
+ * * type - String of the topic type\r
+ */\r
+Ros.prototype.getTopicType = function(topic, callback, failedCallback) {\r
+ var topicTypeClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/topic_type',\r
+ serviceType : 'rosapi/TopicType'\r
+ });\r
+ var request = new ServiceRequest({\r
+ topic: topic\r
+ });\r
+\r
+ if (typeof failedCallback === 'function'){\r
+ topicTypeClient.callService(request,\r
+ function(result) {\r
+ callback(result.type);\r
+ },\r
+ function(message){\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ topicTypeClient.callService(request, function(result) {\r
+ callback(result.type);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves a type of ROS service.\r
+ *\r
+ * @param service name of service:\r
+ * @param callback - function with params:\r
+ * * type - String of the service type\r
+ */\r
+Ros.prototype.getServiceType = function(service, callback, failedCallback) {\r
+ var serviceTypeClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/service_type',\r
+ serviceType : 'rosapi/ServiceType'\r
+ });\r
+ var request = new ServiceRequest({\r
+ service: service\r
+ });\r
+\r
+ if (typeof failedCallback === 'function'){\r
+ serviceTypeClient.callService(request,\r
+ function(result) {\r
+ callback(result.type);\r
+ },\r
+ function(message){\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ serviceTypeClient.callService(request, function(result) {\r
+ callback(result.type);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Retrieves a detail of ROS message.\r
+ *\r
+ * @param callback - function with params:\r
+ * * details - Array of the message detail\r
+ * @param message - String of a topic type\r
+ */\r
+Ros.prototype.getMessageDetails = function(message, callback, failedCallback) {\r
+ var messageDetailClient = new Service({\r
+ ros : this,\r
+ name : '/rosapi/message_details',\r
+ serviceType : 'rosapi/MessageDetails'\r
+ });\r
+ var request = new ServiceRequest({\r
+ type: message\r
+ });\r
+\r
+ if (typeof failedCallback === 'function'){\r
+ messageDetailClient.callService(request,\r
+ function(result) {\r
+ callback(result.typedefs);\r
+ },\r
+ function(message){\r
+ failedCallback(message);\r
+ }\r
+ );\r
+ }else{\r
+ messageDetailClient.callService(request, function(result) {\r
+ callback(result.typedefs);\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Decode a typedefs into a dictionary like `rosmsg show foo/bar`\r
+ *\r
+ * @param defs - array of type_def dictionary\r
+ */\r
+Ros.prototype.decodeTypeDefs = function(defs) {\r
+ var that = this;\r
+\r
+ // calls itself recursively to resolve type definition using hints.\r
+ var decodeTypeDefsRec = function(theType, hints) {\r
+ var typeDefDict = {};\r
+ for (var i = 0; i < theType.fieldnames.length; i++) {\r
+ var arrayLen = theType.fieldarraylen[i];\r
+ var fieldName = theType.fieldnames[i];\r
+ var fieldType = theType.fieldtypes[i];\r
+ if (fieldType.indexOf('/') === -1) { // check the fieldType includes '/' or not\r
+ if (arrayLen === -1) {\r
+ typeDefDict[fieldName] = fieldType;\r
+ }\r
+ else {\r
+ typeDefDict[fieldName] = [fieldType];\r
+ }\r
+ }\r
+ else {\r
+ // lookup the name\r
+ var sub = false;\r
+ for (var j = 0; j < hints.length; j++) {\r
+ if (hints[j].type.toString() === fieldType.toString()) {\r
+ sub = hints[j];\r
+ break;\r
+ }\r
+ }\r
+ if (sub) {\r
+ var subResult = decodeTypeDefsRec(sub, hints);\r
+ if (arrayLen === -1) {\r
+ }\r
+ else {\r
+ typeDefDict[fieldName] = [subResult];\r
+ }\r
+ }\r
+ else {\r
+ that.emit('error', 'Cannot find ' + fieldType + ' in decodeTypeDefs');\r
+ }\r
+ }\r
+ }\r
+ return typeDefDict;\r
+ };\r
+\r
+ return decodeTypeDefsRec(defs[0], defs);\r
+};\r
+\r
+\r
+module.exports = Ros;\r
+\r
+},{"./Service":13,"./ServiceRequest":14,"./SocketAdapter.js":16,"eventemitter2":1,"object-assign":2,"ws":39}],13:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author Brandon Alexander - baalexander@gmail.com\r
+ */\r
+\r
+var ServiceResponse = require('./ServiceResponse');\r
+var ServiceRequest = require('./ServiceRequest');\r
+var EventEmitter2 = require('eventemitter2').EventEmitter2;\r
+\r
+/**\r
+ * A ROS service client.\r
+ *\r
+ * @constructor\r
+ * @params options - possible keys include:\r
+ * * ros - the ROSLIB.Ros connection handle\r
+ * * name - the service name, like /add_two_ints\r
+ * * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'\r
+ */\r
+function Service(options) {\r
+ options = options || {};\r
+ this.ros = options.ros;\r
+ this.name = options.name;\r
+ this.serviceType = options.serviceType;\r
+ this.isAdvertised = false;\r
+\r
+ this._serviceCallback = null;\r
+}\r
+Service.prototype.__proto__ = EventEmitter2.prototype;\r
+/**\r
+ * Calls the service. Returns the service response in the callback.\r
+ *\r
+ * @param request - the ROSLIB.ServiceRequest to send\r
+ * @param callback - function with params:\r
+ * * response - the response from the service request\r
+ * @param failedCallback - the callback function when the service call failed (optional). Params:\r
+ * * error - the error message reported by ROS\r
+ */\r
+Service.prototype.callService = function(request, callback, failedCallback) {\r
+ if (this.isAdvertised) {\r
+ return;\r
+ }\r
+\r
+ var serviceCallId = 'call_service:' + this.name + ':' + (++this.ros.idCounter);\r
+\r
+ if (callback || failedCallback) {\r
+ this.ros.once(serviceCallId, function(message) {\r
+ if (message.result !== undefined && message.result === false) {\r
+ if (typeof failedCallback === 'function') {\r
+ failedCallback(message.values);\r
+ }\r
+ } else if (typeof callback === 'function') {\r
+ callback(new ServiceResponse(message.values));\r
+ }\r
+ });\r
+ }\r
+\r
+ var call = {\r
+ op : 'call_service',\r
+ id : serviceCallId,\r
+ service : this.name,\r
+ args : request\r
+ };\r
+ this.ros.callOnConnection(call);\r
+};\r
+\r
+/**\r
+ * Every time a message is published for the given topic, the callback\r
+ * will be called with the message object.\r
+ *\r
+ * @param callback - function with the following params:\r
+ * * message - the published message\r
+ */\r
+Service.prototype.advertise = function(callback) {\r
+ if (this.isAdvertised || typeof callback !== 'function') {\r
+ return;\r
+ }\r
+\r
+ this._serviceCallback = callback;\r
+ this.ros.on(this.name, this._serviceResponse.bind(this));\r
+ this.ros.callOnConnection({\r
+ op: 'advertise_service',\r
+ type: this.serviceType,\r
+ service: this.name\r
+ });\r
+ this.isAdvertised = true;\r
+};\r
+\r
+Service.prototype.unadvertise = function() {\r
+ if (!this.isAdvertised) {\r
+ return;\r
+ }\r
+ this.ros.callOnConnection({\r
+ op: 'unadvertise_service',\r
+ service: this.name\r
+ });\r
+ this.isAdvertised = false;\r
+};\r
+\r
+Service.prototype._serviceResponse = function(rosbridgeRequest) {\r
+ var response = {};\r
+ var success = this._serviceCallback(rosbridgeRequest.args, response);\r
+\r
+ var call = {\r
+ op: 'service_response',\r
+ service: this.name,\r
+ values: new ServiceResponse(response),\r
+ result: success\r
+ };\r
+\r
+ if (rosbridgeRequest.id) {\r
+ call.id = rosbridgeRequest.id;\r
+ }\r
+\r
+ this.ros.callOnConnection(call);\r
+};\r
+\r
+module.exports = Service;\r
+},{"./ServiceRequest":14,"./ServiceResponse":15,"eventemitter2":1}],14:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author Brandon Alexander - balexander@willowgarage.com\r
+ */\r
+\r
+var assign = require('object-assign');\r
+\r
+/**\r
+ * A ServiceRequest is passed into the service call.\r
+ *\r
+ * @constructor\r
+ * @param values - object matching the fields defined in the .srv definition file\r
+ */\r
+function ServiceRequest(values) {\r
+ assign(this, values);\r
+}\r
+\r
+module.exports = ServiceRequest;\r
+},{"object-assign":2}],15:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author Brandon Alexander - balexander@willowgarage.com\r
+ */\r
+\r
+var assign = require('object-assign');\r
+\r
+/**\r
+ * A ServiceResponse is returned from the service call.\r
+ *\r
+ * @constructor\r
+ * @param values - object matching the fields defined in the .srv definition file\r
+ */\r
+function ServiceResponse(values) {\r
+ assign(this, values);\r
+}\r
+\r
+module.exports = ServiceResponse;\r
+},{"object-assign":2}],16:[function(require,module,exports){\r
+/**\r
+ * Socket event handling utilities for handling events on either\r
+ * WebSocket and TCP sockets\r
+ *\r
+ * Note to anyone reviewing this code: these functions are called\r
+ * in the context of their parent object, unless bound\r
+ * @fileOverview\r
+ */\r
+'use strict';\r
+\r
+var decompressPng = require('../util/decompressPng');\r
+var WebSocket = require('ws');\r
+var BSON = null;\r
+if(typeof bson !== 'undefined'){\r
+ BSON = bson().BSON;\r
+}\r
+\r
+/**\r
+ * Events listeners for a WebSocket or TCP socket to a JavaScript\r
+ * ROS Client. Sets up Messages for a given topic to trigger an\r
+ * event on the ROS client.\r
+ *\r
+ * @namespace SocketAdapter\r
+ * @private\r
+ */\r
+function SocketAdapter(client) {\r
+ function handleMessage(message) {\r
+ if (message.op === 'publish') {\r
+ client.emit(message.topic, message.msg);\r
+ } else if (message.op === 'service_response') {\r
+ client.emit(message.id, message);\r
+ } else if (message.op === 'call_service') {\r
+ client.emit(message.service, message);\r
+ } else if(message.op === 'status'){\r
+ if(message.id){\r
+ client.emit('status:'+message.id, message);\r
+ } else {\r
+ client.emit('status', message);\r
+ }\r
+ }\r
+ }\r
+\r
+ function handlePng(message, callback) {\r
+ if (message.op === 'png') {\r
+ decompressPng(message.data, callback);\r
+ } else {\r
+ callback(message);\r
+ }\r
+ }\r
+\r
+ function decodeBSON(data, callback) {\r
+ if (!BSON) {\r
+ throw 'Cannot process BSON encoded message without BSON header.';\r
+ }\r
+ var reader = new FileReader();\r
+ reader.onload = function() {\r
+ var uint8Array = new Uint8Array(this.result);\r
+ var msg = BSON.deserialize(uint8Array);\r
+ callback(msg);\r
+ };\r
+ reader.readAsArrayBuffer(data);\r
+ }\r
+\r
+ return {\r
+ /**\r
+ * Emits a 'connection' event on WebSocket connection.\r
+ *\r
+ * @param event - the argument to emit with the event.\r
+ * @memberof SocketAdapter\r
+ */\r
+ onopen: function onOpen(event) {\r
+ client.isConnected = true;\r
+ client.emit('connection', event);\r
+ },\r
+\r
+ /**\r
+ * Emits a 'close' event on WebSocket disconnection.\r
+ *\r
+ * @param event - the argument to emit with the event.\r
+ * @memberof SocketAdapter\r
+ */\r
+ onclose: function onClose(event) {\r
+ client.isConnected = false;\r
+ client.emit('close', event);\r
+ },\r
+\r
+ /**\r
+ * Emits an 'error' event whenever there was an error.\r
+ *\r
+ * @param event - the argument to emit with the event.\r
+ * @memberof SocketAdapter\r
+ */\r
+ onerror: function onError(event) {\r
+ client.emit('error', event);\r
+ },\r
+\r
+ /**\r
+ * Parses message responses from rosbridge and sends to the appropriate\r
+ * topic, service, or param.\r
+ *\r
+ * @param message - the raw JSON message from rosbridge.\r
+ * @memberof SocketAdapter\r
+ */\r
+ onmessage: function onMessage(data) {\r
+ if (typeof Blob !== 'undefined' && data.data instanceof Blob) {\r
+ decodeBSON(data.data, function (message) {\r
+ handlePng(message, handleMessage);\r
+ });\r
+ } else {\r
+ var message = JSON.parse(typeof data === 'string' ? data : data.data);\r
+ handlePng(message, handleMessage);\r
+ }\r
+ }\r
+ };\r
+}\r
+\r
+module.exports = SocketAdapter;\r
+\r
+},{"../util/decompressPng":41,"ws":39}],17:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author Brandon Alexander - baalexander@gmail.com\r
+ */\r
+\r
+var EventEmitter2 = require('eventemitter2').EventEmitter2;\r
+var Message = require('./Message');\r
+\r
+/**\r
+ * Publish and/or subscribe to a topic in ROS.\r
+ *\r
+ * Emits the following events:\r
+ * * 'warning' - if there are any warning during the Topic creation\r
+ * * 'message' - the message data from rosbridge\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * ros - the ROSLIB.Ros connection handle\r
+ * * name - the topic name, like /cmd_vel\r
+ * * messageType - the message type, like 'std_msgs/String'\r
+ * * compression - the type of compression to use, like 'png'\r
+ * * throttle_rate - the rate (in ms in between messages) at which to throttle the topics\r
+ * * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100)\r
+ * * latch - latch the topic when publishing\r
+ * * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing).\r
+ * * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true).\r
+ */\r
+function Topic(options) {\r
+ options = options || {};\r
+ this.ros = options.ros;\r
+ this.name = options.name;\r
+ this.messageType = options.messageType;\r
+ this.isAdvertised = false;\r
+ this.compression = options.compression || 'none';\r
+ this.throttle_rate = options.throttle_rate || 0;\r
+ this.latch = options.latch || false;\r
+ this.queue_size = options.queue_size || 100;\r
+ this.queue_length = options.queue_length || 0;\r
+ this.reconnect_on_close = options.reconnect_on_close || true;\r
+\r
+ // Check for valid compression types\r
+ if (this.compression && this.compression !== 'png' &&\r
+ this.compression !== 'none') {\r
+ this.emit('warning', this.compression +\r
+ ' compression is not supported. No compression will be used.');\r
+ }\r
+\r
+ // Check if throttle rate is negative\r
+ if (this.throttle_rate < 0) {\r
+ this.emit('warning', this.throttle_rate + ' is not allowed. Set to 0');\r
+ this.throttle_rate = 0;\r
+ }\r
+\r
+ var that = this;\r
+ if (this.reconnect_on_close) {\r
+ this.callForSubscribeAndAdvertise = function(message) {\r
+ that.ros.callOnConnection(message);\r
+\r
+ that.waitForReconnect = false;\r
+ that.reconnectFunc = function() {\r
+ if(!that.waitForReconnect) {\r
+ that.waitForReconnect = true;\r
+ that.ros.callOnConnection(message);\r
+ that.ros.once('connection', function() {\r
+ that.waitForReconnect = false;\r
+ });\r
+ }\r
+ };\r
+ that.ros.on('close', that.reconnectFunc);\r
+ };\r
+ }\r
+ else {\r
+ this.callForSubscribeAndAdvertise = this.ros.callOnConnection;\r
+ }\r
+\r
+ this._messageCallback = function(data) {\r
+ that.emit('message', new Message(data));\r
+ };\r
+}\r
+Topic.prototype.__proto__ = EventEmitter2.prototype;\r
+\r
+/**\r
+ * Every time a message is published for the given topic, the callback\r
+ * will be called with the message object.\r
+ *\r
+ * @param callback - function with the following params:\r
+ * * message - the published message\r
+ */\r
+Topic.prototype.subscribe = function(callback) {\r
+ if (typeof callback === 'function') {\r
+ this.on('message', callback);\r
+ }\r
+\r
+ if (this.subscribeId) { return; }\r
+ this.ros.on(this.name, this._messageCallback);\r
+ this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter);\r
+\r
+ this.callForSubscribeAndAdvertise({\r
+ op: 'subscribe',\r
+ id: this.subscribeId,\r
+ type: this.messageType,\r
+ topic: this.name,\r
+ compression: this.compression,\r
+ throttle_rate: this.throttle_rate,\r
+ queue_length: this.queue_length\r
+ });\r
+};\r
+\r
+/**\r
+ * Unregisters as a subscriber for the topic. Unsubscribing stop remove\r
+ * all subscribe callbacks. To remove a call back, you must explicitly\r
+ * pass the callback function in.\r
+ *\r
+ * @param callback - the optional callback to unregister, if\r
+ * * provided and other listeners are registered the topic won't\r
+ * * unsubscribe, just stop emitting to the passed listener\r
+ */\r
+Topic.prototype.unsubscribe = function(callback) {\r
+ if (callback) {\r
+ this.off('message', callback);\r
+ // If there is any other callbacks still subscribed don't unsubscribe\r
+ if (this.listeners('message').length) { return; }\r
+ }\r
+ if (!this.subscribeId) { return; }\r
+ // Note: Don't call this.removeAllListeners, allow client to handle that themselves\r
+ this.ros.off(this.name, this._messageCallback);\r
+ if(this.reconnect_on_close) {\r
+ this.ros.off('close', this.reconnectFunc);\r
+ }\r
+ this.emit('unsubscribe');\r
+ this.ros.callOnConnection({\r
+ op: 'unsubscribe',\r
+ id: this.subscribeId,\r
+ topic: this.name\r
+ });\r
+ this.subscribeId = null;\r
+};\r
+\r
+\r
+/**\r
+ * Registers as a publisher for the topic.\r
+ */\r
+Topic.prototype.advertise = function() {\r
+ if (this.isAdvertised) {\r
+ return;\r
+ }\r
+ this.advertiseId = 'advertise:' + this.name + ':' + (++this.ros.idCounter);\r
+ this.callForSubscribeAndAdvertise({\r
+ op: 'advertise',\r
+ id: this.advertiseId,\r
+ type: this.messageType,\r
+ topic: this.name,\r
+ latch: this.latch,\r
+ queue_size: this.queue_size\r
+ });\r
+ this.isAdvertised = true;\r
+\r
+ if(!this.reconnect_on_close) {\r
+ var that = this;\r
+ this.ros.on('close', function() {\r
+ that.isAdvertised = false;\r
+ });\r
+ }\r
+};\r
+\r
+/**\r
+ * Unregisters as a publisher for the topic.\r
+ */\r
+Topic.prototype.unadvertise = function() {\r
+ if (!this.isAdvertised) {\r
+ return;\r
+ }\r
+ if(this.reconnect_on_close) {\r
+ this.ros.off('close', this.reconnectFunc);\r
+ }\r
+ this.emit('unadvertise');\r
+ this.ros.callOnConnection({\r
+ op: 'unadvertise',\r
+ id: this.advertiseId,\r
+ topic: this.name\r
+ });\r
+ this.isAdvertised = false;\r
+};\r
+\r
+/**\r
+ * Publish the message.\r
+ *\r
+ * @param message - A ROSLIB.Message object.\r
+ */\r
+Topic.prototype.publish = function(message) {\r
+ if (!this.isAdvertised) {\r
+ this.advertise();\r
+ }\r
+\r
+ this.ros.idCounter++;\r
+ var call = {\r
+ op: 'publish',\r
+ id: 'publish:' + this.name + ':' + this.ros.idCounter,\r
+ topic: this.name,\r
+ msg: message,\r
+ latch: this.latch\r
+ };\r
+ this.ros.callOnConnection(call);\r
+};\r
+\r
+module.exports = Topic;\r
+\r
+},{"./Message":10,"eventemitter2":1}],18:[function(require,module,exports){\r
+var mixin = require('../mixin');\r
+\r
+var core = module.exports = {\r
+ Ros: require('./Ros'),\r
+ Topic: require('./Topic'),\r
+ Message: require('./Message'),\r
+ Param: require('./Param'),\r
+ Service: require('./Service'),\r
+ ServiceRequest: require('./ServiceRequest'),\r
+ ServiceResponse: require('./ServiceResponse')\r
+};\r
+\r
+mixin(core.Ros, ['Param', 'Service', 'Topic'], core);\r
+\r
+},{"../mixin":24,"./Message":10,"./Param":11,"./Ros":12,"./Service":13,"./ServiceRequest":14,"./ServiceResponse":15,"./Topic":17}],19:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author David Gossow - dgossow@willowgarage.com\r
+ */\r
+\r
+var Vector3 = require('./Vector3');\r
+var Quaternion = require('./Quaternion');\r
+\r
+/**\r
+ * A Pose in 3D space. Values are copied into this object.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * position - the Vector3 describing the position\r
+ * * orientation - the ROSLIB.Quaternion describing the orientation\r
+ */\r
+function Pose(options) {\r
+ options = options || {};\r
+ // copy the values into this object if they exist\r
+ this.position = new Vector3(options.position);\r
+ this.orientation = new Quaternion(options.orientation);\r
+}\r
+\r
+/**\r
+ * Apply a transform against this pose.\r
+ *\r
+ * @param tf the transform\r
+ */\r
+Pose.prototype.applyTransform = function(tf) {\r
+ this.position.multiplyQuaternion(tf.rotation);\r
+ this.position.add(tf.translation);\r
+ var tmp = tf.rotation.clone();\r
+ tmp.multiply(this.orientation);\r
+ this.orientation = tmp;\r
+};\r
+\r
+/**\r
+ * Clone a copy of this pose.\r
+ *\r
+ * @returns the cloned pose\r
+ */\r
+Pose.prototype.clone = function() {\r
+ return new Pose(this);\r
+};\r
+\r
+module.exports = Pose;\r
+},{"./Quaternion":20,"./Vector3":22}],20:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author David Gossow - dgossow@willowgarage.com\r
+ */\r
+\r
+/**\r
+ * A Quaternion.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * x - the x value\r
+ * * y - the y value\r
+ * * z - the z value\r
+ * * w - the w value\r
+ */\r
+function Quaternion(options) {\r
+ options = options || {};\r
+ this.x = options.x || 0;\r
+ this.y = options.y || 0;\r
+ this.z = options.z || 0;\r
+ this.w = (typeof options.w === 'number') ? options.w : 1;\r
+}\r
+\r
+/**\r
+ * Perform a conjugation on this quaternion.\r
+ */\r
+Quaternion.prototype.conjugate = function() {\r
+ this.x *= -1;\r
+ this.y *= -1;\r
+ this.z *= -1;\r
+};\r
+\r
+/**\r
+ * Return the norm of this quaternion.\r
+ */\r
+Quaternion.prototype.norm = function() {\r
+ return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);\r
+};\r
+\r
+/**\r
+ * Perform a normalization on this quaternion.\r
+ */\r
+Quaternion.prototype.normalize = function() {\r
+ var l = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);\r
+ if (l === 0) {\r
+ this.x = 0;\r
+ this.y = 0;\r
+ this.z = 0;\r
+ this.w = 1;\r
+ } else {\r
+ l = 1 / l;\r
+ this.x = this.x * l;\r
+ this.y = this.y * l;\r
+ this.z = this.z * l;\r
+ this.w = this.w * l;\r
+ }\r
+};\r
+\r
+/**\r
+ * Convert this quaternion into its inverse.\r
+ */\r
+Quaternion.prototype.invert = function() {\r
+ this.conjugate();\r
+ this.normalize();\r
+};\r
+\r
+/**\r
+ * Set the values of this quaternion to the product of itself and the given quaternion.\r
+ *\r
+ * @param q the quaternion to multiply with\r
+ */\r
+Quaternion.prototype.multiply = function(q) {\r
+ var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;\r
+ var newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y;\r
+ var newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z;\r
+ var newW = -this.x * q.x - this.y * q.y - this.z * q.z + this.w * q.w;\r
+ this.x = newX;\r
+ this.y = newY;\r
+ this.z = newZ;\r
+ this.w = newW;\r
+};\r
+\r
+/**\r
+ * Clone a copy of this quaternion.\r
+ *\r
+ * @returns the cloned quaternion\r
+ */\r
+Quaternion.prototype.clone = function() {\r
+ return new Quaternion(this);\r
+};\r
+\r
+module.exports = Quaternion;\r
+\r
+},{}],21:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author David Gossow - dgossow@willowgarage.com\r
+ */\r
+\r
+var Vector3 = require('./Vector3');\r
+var Quaternion = require('./Quaternion');\r
+\r
+/**\r
+ * A Transform in 3-space. Values are copied into this object.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * translation - the Vector3 describing the translation\r
+ * * rotation - the ROSLIB.Quaternion describing the rotation\r
+ */\r
+function Transform(options) {\r
+ options = options || {};\r
+ // Copy the values into this object if they exist\r
+ this.translation = new Vector3(options.translation);\r
+ this.rotation = new Quaternion(options.rotation);\r
+}\r
+\r
+/**\r
+ * Clone a copy of this transform.\r
+ *\r
+ * @returns the cloned transform\r
+ */\r
+Transform.prototype.clone = function() {\r
+ return new Transform(this);\r
+};\r
+\r
+module.exports = Transform;\r
+},{"./Quaternion":20,"./Vector3":22}],22:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author David Gossow - dgossow@willowgarage.com\r
+ */\r
+\r
+/**\r
+ * A 3D vector.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * x - the x value\r
+ * * y - the y value\r
+ * * z - the z value\r
+ */\r
+function Vector3(options) {\r
+ options = options || {};\r
+ this.x = options.x || 0;\r
+ this.y = options.y || 0;\r
+ this.z = options.z || 0;\r
+}\r
+\r
+/**\r
+ * Set the values of this vector to the sum of itself and the given vector.\r
+ *\r
+ * @param v the vector to add with\r
+ */\r
+Vector3.prototype.add = function(v) {\r
+ this.x += v.x;\r
+ this.y += v.y;\r
+ this.z += v.z;\r
+};\r
+\r
+/**\r
+ * Set the values of this vector to the difference of itself and the given vector.\r
+ *\r
+ * @param v the vector to subtract with\r
+ */\r
+Vector3.prototype.subtract = function(v) {\r
+ this.x -= v.x;\r
+ this.y -= v.y;\r
+ this.z -= v.z;\r
+};\r
+\r
+/**\r
+ * Multiply the given Quaternion with this vector.\r
+ *\r
+ * @param q - the quaternion to multiply with\r
+ */\r
+Vector3.prototype.multiplyQuaternion = function(q) {\r
+ var ix = q.w * this.x + q.y * this.z - q.z * this.y;\r
+ var iy = q.w * this.y + q.z * this.x - q.x * this.z;\r
+ var iz = q.w * this.z + q.x * this.y - q.y * this.x;\r
+ var iw = -q.x * this.x - q.y * this.y - q.z * this.z;\r
+ this.x = ix * q.w + iw * -q.x + iy * -q.z - iz * -q.y;\r
+ this.y = iy * q.w + iw * -q.y + iz * -q.x - ix * -q.z;\r
+ this.z = iz * q.w + iw * -q.z + ix * -q.y - iy * -q.x;\r
+};\r
+\r
+/**\r
+ * Clone a copy of this vector.\r
+ *\r
+ * @returns the cloned vector\r
+ */\r
+Vector3.prototype.clone = function() {\r
+ return new Vector3(this);\r
+};\r
+\r
+module.exports = Vector3;\r
+},{}],23:[function(require,module,exports){\r
+module.exports = {\r
+ Pose: require('./Pose'),\r
+ Quaternion: require('./Quaternion'),\r
+ Transform: require('./Transform'),\r
+ Vector3: require('./Vector3')\r
+};\r
+\r
+},{"./Pose":19,"./Quaternion":20,"./Transform":21,"./Vector3":22}],24:[function(require,module,exports){\r
+/**\r
+ * Mixin a feature to the core/Ros prototype.\r
+ * For example, mixin(Ros, ['Topic'], {Topic: <Topic>})\r
+ * will add a topic bound to any Ros instances so a user\r
+ * can call `var topic = ros.Topic({name: '/foo'});`\r
+ *\r
+ * @author Graeme Yeates - github.com/megawac\r
+ */\r
+module.exports = function(Ros, classes, features) {\r
+ classes.forEach(function(className) {\r
+ var Class = features[className];\r
+ Ros.prototype[className] = function(options) {\r
+ options.ros = this;\r
+ return new Class(options);\r
+ };\r
+ });\r
+};\r
+\r
+},{}],25:[function(require,module,exports){\r
+/**\r
+ * @fileoverview\r
+ * @author David Gossow - dgossow@willowgarage.com\r
+ */\r
+\r
+var ActionClient = require('../actionlib/ActionClient');\r
+var Goal = require('../actionlib/Goal');\r
+\r
+var Service = require('../core/Service.js');\r
+var ServiceRequest = require('../core/ServiceRequest.js');\r
+\r
+var Transform = require('../math/Transform');\r
+\r
+/**\r
+ * A TF Client that listens to TFs from tf2_web_republisher.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * ros - the ROSLIB.Ros connection handle\r
+ * * fixedFrame - the fixed frame, like /base_link\r
+ * * angularThres - the angular threshold for the TF republisher\r
+ * * transThres - the translation threshold for the TF republisher\r
+ * * rate - the rate for the TF republisher\r
+ * * updateDelay - the time (in ms) to wait after a new subscription\r
+ * to update the TF republisher's list of TFs\r
+ * * topicTimeout - the timeout parameter for the TF republisher\r
+ * * serverName (optional) - the name of the tf2_web_republisher server\r
+ * * repubServiceName (optional) - the name of the republish_tfs service (non groovy compatibility mode only)\r
+ * default: '/republish_tfs'\r
+ */\r
+function TFClient(options) {\r
+ options = options || {};\r
+ this.ros = options.ros;\r
+ this.fixedFrame = options.fixedFrame || '/base_link';\r
+ this.angularThres = options.angularThres || 2.0;\r
+ this.transThres = options.transThres || 0.01;\r
+ this.rate = options.rate || 10.0;\r
+ this.updateDelay = options.updateDelay || 50;\r
+ var seconds = options.topicTimeout || 2.0;\r
+ var secs = Math.floor(seconds);\r
+ var nsecs = Math.floor((seconds - secs) * 1000000000);\r
+ this.topicTimeout = {\r
+ secs: secs,\r
+ nsecs: nsecs\r
+ };\r
+ this.serverName = options.serverName || '/tf2_web_republisher';\r
+ this.repubServiceName = options.repubServiceName || '/republish_tfs';\r
+\r
+ this.currentGoal = false;\r
+ this.currentTopic = false;\r
+ this.frameInfos = {};\r
+ this.republisherUpdateRequested = false;\r
+\r
+ // Create an Action client\r
+ this.actionClient = this.ros.ActionClient({\r
+ serverName : this.serverName,\r
+ actionName : 'tf2_web_republisher/TFSubscriptionAction',\r
+ omitStatus : true,\r
+ omitResult : true\r
+ });\r
+\r
+ // Create a Service client\r
+ this.serviceClient = this.ros.Service({\r
+ name: this.repubServiceName,\r
+ serviceType: 'tf2_web_republisher/RepublishTFs'\r
+ });\r
+}\r
+\r
+/**\r
+ * Process the incoming TF message and send them out using the callback\r
+ * functions.\r
+ *\r
+ * @param tf - the TF message from the server\r
+ */\r
+TFClient.prototype.processTFArray = function(tf) {\r
+ var that = this;\r
+ tf.transforms.forEach(function(transform) {\r
+ var frameID = transform.child_frame_id;\r
+ if (frameID[0] === '/')\r
+ {\r
+ frameID = frameID.substring(1);\r
+ }\r
+ var info = this.frameInfos[frameID];\r
+ if (info) {\r
+ info.transform = new Transform({\r
+ translation : transform.transform.translation,\r
+ rotation : transform.transform.rotation\r
+ });\r
+ info.cbs.forEach(function(cb) {\r
+ cb(info.transform);\r
+ });\r
+ }\r
+ }, this);\r
+};\r
+\r
+/**\r
+ * Create and send a new goal (or service request) to the tf2_web_republisher\r
+ * based on the current list of TFs.\r
+ */\r
+TFClient.prototype.updateGoal = function() {\r
+ var goalMessage = {\r
+ source_frames : Object.keys(this.frameInfos),\r
+ target_frame : this.fixedFrame,\r
+ angular_thres : this.angularThres,\r
+ trans_thres : this.transThres,\r
+ rate : this.rate\r
+ };\r
+\r
+ // if we're running in groovy compatibility mode (the default)\r
+ // then use the action interface to tf2_web_republisher\r
+ if(this.ros.groovyCompatibility) {\r
+ if (this.currentGoal) {\r
+ this.currentGoal.cancel();\r
+ }\r
+ this.currentGoal = new Goal({\r
+ actionClient : this.actionClient,\r
+ goalMessage : goalMessage\r
+ });\r
+\r
+ this.currentGoal.on('feedback', this.processTFArray.bind(this));\r
+ this.currentGoal.send();\r
+ }\r
+ else {\r
+ // otherwise, use the service interface\r
+ // The service interface has the same parameters as the action,\r
+ // plus the timeout\r
+ goalMessage.timeout = this.topicTimeout;\r
+ var request = new ServiceRequest(goalMessage);\r
+\r
+ this.serviceClient.callService(request, this.processResponse.bind(this));\r
+ }\r
+\r
+ this.republisherUpdateRequested = false;\r
+};\r
+\r
+/**\r
+ * Process the service response and subscribe to the tf republisher\r
+ * topic\r
+ *\r
+ * @param response the service response containing the topic name\r
+ */\r
+TFClient.prototype.processResponse = function(response) {\r
+ // if we subscribed to a topic before, unsubscribe so\r
+ // the republisher stops publishing it\r
+ if (this.currentTopic) {\r
+ this.currentTopic.unsubscribe();\r
+ }\r
+\r
+ this.currentTopic = this.ros.Topic({\r
+ name: response.topic_name,\r
+ messageType: 'tf2_web_republisher/TFArray'\r
+ });\r
+ this.currentTopic.subscribe(this.processTFArray.bind(this));\r
+};\r
+\r
+/**\r
+ * Subscribe to the given TF frame.\r
+ *\r
+ * @param frameID - the TF frame to subscribe to\r
+ * @param callback - function with params:\r
+ * * transform - the transform data\r
+ */\r
+TFClient.prototype.subscribe = function(frameID, callback) {\r
+ // remove leading slash, if it's there\r
+ if (frameID[0] === '/')\r
+ {\r
+ frameID = frameID.substring(1);\r
+ }\r
+ // if there is no callback registered for the given frame, create emtpy callback list\r
+ if (!this.frameInfos[frameID]) {\r
+ this.frameInfos[frameID] = {\r
+ cbs: []\r
+ };\r
+ if (!this.republisherUpdateRequested) {\r
+ setTimeout(this.updateGoal.bind(this), this.updateDelay);\r
+ this.republisherUpdateRequested = true;\r
+ }\r
+ }\r
+ // if we already have a transform, call back immediately\r
+ else if (this.frameInfos[frameID].transform) {\r
+ callback(this.frameInfos[frameID].transform);\r
+ }\r
+ this.frameInfos[frameID].cbs.push(callback);\r
+};\r
+\r
+/**\r
+ * Unsubscribe from the given TF frame.\r
+ *\r
+ * @param frameID - the TF frame to unsubscribe from\r
+ * @param callback - the callback function to remove\r
+ */\r
+TFClient.prototype.unsubscribe = function(frameID, callback) {\r
+ // remove leading slash, if it's there\r
+ if (frameID[0] === '/')\r
+ {\r
+ frameID = frameID.substring(1);\r
+ }\r
+ var info = this.frameInfos[frameID];\r
+ for (var cbs = info && info.cbs || [], idx = cbs.length; idx--;) {\r
+ if (cbs[idx] === callback) {\r
+ cbs.splice(idx, 1);\r
+ }\r
+ }\r
+ if (!callback || cbs.length === 0) {\r
+ delete this.frameInfos[frameID];\r
+ }\r
+};\r
+\r
+/**\r
+ * Unsubscribe and unadvertise all topics associated with this TFClient.\r
+ */\r
+TFClient.prototype.dispose = function() {\r
+ this.actionClient.dispose();\r
+ if (this.currentTopic) {\r
+ this.currentTopic.unsubscribe();\r
+ }\r
+};\r
+\r
+module.exports = TFClient;\r
+\r
+},{"../actionlib/ActionClient":5,"../actionlib/Goal":7,"../core/Service.js":13,"../core/ServiceRequest.js":14,"../math/Transform":21}],26:[function(require,module,exports){\r
+var Ros = require('../core/Ros');\r
+var mixin = require('../mixin');\r
+\r
+var tf = module.exports = {\r
+ TFClient: require('./TFClient')\r
+};\r
+\r
+mixin(Ros, ['TFClient'], tf);\r
+},{"../core/Ros":12,"../mixin":24,"./TFClient":25}],27:[function(require,module,exports){\r
+/**\r
+ * @fileOverview \r
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var Vector3 = require('../math/Vector3');\r
+var UrdfTypes = require('./UrdfTypes');\r
+\r
+/**\r
+ * A Box element in a URDF.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * xml - the XML element to parse\r
+ */\r
+function UrdfBox(options) {\r
+ this.dimension = null;\r
+ this.type = UrdfTypes.URDF_BOX;\r
+\r
+ // Parse the xml string\r
+ var xyz = options.xml.getAttribute('size').split(' ');\r
+ this.dimension = new Vector3({\r
+ x : parseFloat(xyz[0]),\r
+ y : parseFloat(xyz[1]),\r
+ z : parseFloat(xyz[2])\r
+ });\r
+}\r
+\r
+module.exports = UrdfBox;\r
+},{"../math/Vector3":22,"./UrdfTypes":36}],28:[function(require,module,exports){\r
+/**\r
+ * @fileOverview \r
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+/**\r
+ * A Color element in a URDF.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * xml - the XML element to parse\r
+ */\r
+function UrdfColor(options) {\r
+ // Parse the xml string\r
+ var rgba = options.xml.getAttribute('rgba').split(' ');\r
+ this.r = parseFloat(rgba[0]);\r
+ this.g = parseFloat(rgba[1]);\r
+ this.b = parseFloat(rgba[2]);\r
+ this.a = parseFloat(rgba[3]);\r
+}\r
+\r
+module.exports = UrdfColor;\r
+},{}],29:[function(require,module,exports){\r
+/**\r
+ * @fileOverview \r
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var UrdfTypes = require('./UrdfTypes');\r
+\r
+/**\r
+ * A Cylinder element in a URDF.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * xml - the XML element to parse\r
+ */\r
+function UrdfCylinder(options) {\r
+ this.type = UrdfTypes.URDF_CYLINDER;\r
+ this.length = parseFloat(options.xml.getAttribute('length'));\r
+ this.radius = parseFloat(options.xml.getAttribute('radius'));\r
+}\r
+\r
+module.exports = UrdfCylinder;\r
+},{"./UrdfTypes":36}],30:[function(require,module,exports){\r
+/**\r
+ * @fileOverview\r
+ * @author David V. Lu!! davidvlu@gmail.com\r
+ */\r
+\r
+/**\r
+ * A Joint element in a URDF.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * xml - the XML element to parse\r
+ */\r
+function UrdfJoint(options) {\r
+ this.name = options.xml.getAttribute('name');\r
+ this.type = options.xml.getAttribute('type');\r
+\r
+ var parents = options.xml.getElementsByTagName('parent');\r
+ if(parents.length > 0) {\r
+ this.parent = parents[0].getAttribute('link');\r
+ }\r
+\r
+ var children = options.xml.getElementsByTagName('child');\r
+ if(children.length > 0) {\r
+ this.child = children[0].getAttribute('link');\r
+ }\r
+\r
+ var limits = options.xml.getElementsByTagName('limit');\r
+ if (limits.length > 0) {\r
+ this.minval = parseFloat( limits[0].getAttribute('lower') );\r
+ this.maxval = parseFloat( limits[0].getAttribute('upper') );\r
+ }\r
+}\r
+\r
+module.exports = UrdfJoint;\r
+\r
+},{}],31:[function(require,module,exports){\r
+/**\r
+ * @fileOverview \r
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var UrdfVisual = require('./UrdfVisual');\r
+\r
+/**\r
+ * A Link element in a URDF.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * xml - the XML element to parse\r
+ */\r
+function UrdfLink(options) {\r
+ this.name = options.xml.getAttribute('name');\r
+ this.visuals = [];\r
+ var visuals = options.xml.getElementsByTagName('visual');\r
+\r
+ for( var i=0; i<visuals.length; i++ ) {\r
+ this.visuals.push( new UrdfVisual({\r
+ xml : visuals[i]\r
+ }) );\r
+ }\r
+}\r
+\r
+module.exports = UrdfLink;\r
+},{"./UrdfVisual":37}],32:[function(require,module,exports){\r
+/**\r
+ * @fileOverview \r
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var UrdfColor = require('./UrdfColor');\r
+\r
+/**\r
+ * A Material element in a URDF.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * xml - the XML element to parse\r
+ */\r
+function UrdfMaterial(options) {\r
+ this.textureFilename = null;\r
+ this.color = null;\r
+\r
+ this.name = options.xml.getAttribute('name');\r
+\r
+ // Texture\r
+ var textures = options.xml.getElementsByTagName('texture');\r
+ if (textures.length > 0) {\r
+ this.textureFilename = textures[0].getAttribute('filename');\r
+ }\r
+\r
+ // Color\r
+ var colors = options.xml.getElementsByTagName('color');\r
+ if (colors.length > 0) {\r
+ // Parse the RBGA string\r
+ this.color = new UrdfColor({\r
+ xml : colors[0]\r
+ });\r
+ }\r
+}\r
+\r
+UrdfMaterial.prototype.isLink = function() {\r
+ return this.color === null && this.textureFilename === null;\r
+};\r
+\r
+var assign = require('object-assign');\r
+\r
+UrdfMaterial.prototype.assign = function(obj) {\r
+ return assign(this, obj);\r
+};\r
+\r
+module.exports = UrdfMaterial;\r
+\r
+},{"./UrdfColor":28,"object-assign":2}],33:[function(require,module,exports){\r
+/**\r
+ * @fileOverview \r
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var Vector3 = require('../math/Vector3');\r
+var UrdfTypes = require('./UrdfTypes');\r
+\r
+/**\r
+ * A Mesh element in a URDF.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * xml - the XML element to parse\r
+ */\r
+function UrdfMesh(options) {\r
+ this.scale = null;\r
+\r
+ this.type = UrdfTypes.URDF_MESH;\r
+ this.filename = options.xml.getAttribute('filename');\r
+\r
+ // Check for a scale\r
+ var scale = options.xml.getAttribute('scale');\r
+ if (scale) {\r
+ // Get the XYZ\r
+ var xyz = scale.split(' ');\r
+ this.scale = new Vector3({\r
+ x : parseFloat(xyz[0]),\r
+ y : parseFloat(xyz[1]),\r
+ z : parseFloat(xyz[2])\r
+ });\r
+ }\r
+}\r
+\r
+module.exports = UrdfMesh;\r
+},{"../math/Vector3":22,"./UrdfTypes":36}],34:[function(require,module,exports){\r
+/**\r
+ * @fileOverview \r
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var UrdfMaterial = require('./UrdfMaterial');\r
+var UrdfLink = require('./UrdfLink');\r
+var UrdfJoint = require('./UrdfJoint');\r
+var DOMParser = require('xmldom').DOMParser;\r
+\r
+// See https://developer.mozilla.org/docs/XPathResult#Constants\r
+var XPATH_FIRST_ORDERED_NODE_TYPE = 9;\r
+\r
+/**\r
+ * A URDF Model can be used to parse a given URDF into the appropriate elements.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * xml - the XML element to parse\r
+ * * string - the XML element to parse as a string\r
+ */\r
+function UrdfModel(options) {\r
+ options = options || {};\r
+ var xmlDoc = options.xml;\r
+ var string = options.string;\r
+ this.materials = {};\r
+ this.links = {};\r
+ this.joints = {};\r
+\r
+ // Check if we are using a string or an XML element\r
+ if (string) {\r
+ // Parse the string\r
+ var parser = new DOMParser();\r
+ xmlDoc = parser.parseFromString(string, 'text/xml');\r
+ }\r
+\r
+ // Initialize the model with the given XML node.\r
+ // Get the robot tag\r
+ var robotXml = xmlDoc.documentElement;\r
+\r
+ // Get the robot name\r
+ this.name = robotXml.getAttribute('name');\r
+\r
+ // Parse all the visual elements we need\r
+ for (var nodes = robotXml.childNodes, i = 0; i < nodes.length; i++) {\r
+ var node = nodes[i];\r
+ if (node.tagName === 'material') {\r
+ var material = new UrdfMaterial({\r
+ xml : node\r
+ });\r
+ // Make sure this is unique\r
+ if (this.materials[material.name] !== void 0) {\r
+ if( this.materials[material.name].isLink() ) {\r
+ this.materials[material.name].assign( material );\r
+ } else {\r
+ console.warn('Material ' + material.name + 'is not unique.');\r
+ }\r
+ } else {\r
+ this.materials[material.name] = material;\r
+ }\r
+ } else if (node.tagName === 'link') {\r
+ var link = new UrdfLink({\r
+ xml : node\r
+ });\r
+ // Make sure this is unique\r
+ if (this.links[link.name] !== void 0) {\r
+ console.warn('Link ' + link.name + ' is not unique.');\r
+ } else {\r
+ // Check for a material\r
+ for( var j=0; j<link.visuals.length; j++ )\r
+ {\r
+ var mat = link.visuals[j].material; \r
+ if ( mat !== null ) {\r
+ if (this.materials[mat.name] !== void 0) {\r
+ link.visuals[j].material = this.materials[mat.name];\r
+ } else {\r
+ this.materials[mat.name] = mat;\r
+ }\r
+ }\r
+ }\r
+\r
+ // Add the link\r
+ this.links[link.name] = link;\r
+ }\r
+ } else if (node.tagName === 'joint') {\r
+ var joint = new UrdfJoint({\r
+ xml : node\r
+ });\r
+ this.joints[joint.name] = joint;\r
+ }\r
+ }\r
+}\r
+\r
+module.exports = UrdfModel;\r
+\r
+},{"./UrdfJoint":30,"./UrdfLink":31,"./UrdfMaterial":32,"xmldom":42}],35:[function(require,module,exports){\r
+/**\r
+ * @fileOverview \r
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var UrdfTypes = require('./UrdfTypes');\r
+\r
+/**\r
+ * A Sphere element in a URDF.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * xml - the XML element to parse\r
+ */\r
+function UrdfSphere(options) {\r
+ this.type = UrdfTypes.URDF_SPHERE;\r
+ this.radius = parseFloat(options.xml.getAttribute('radius'));\r
+}\r
+\r
+module.exports = UrdfSphere;\r
+},{"./UrdfTypes":36}],36:[function(require,module,exports){\r
+module.exports = {\r
+ URDF_SPHERE : 0,\r
+ URDF_BOX : 1,\r
+ URDF_CYLINDER : 2,\r
+ URDF_MESH : 3\r
+};\r
+\r
+},{}],37:[function(require,module,exports){\r
+/**\r
+ * @fileOverview \r
+ * @author Benjamin Pitzer - ben.pitzer@gmail.com\r
+ * @author Russell Toris - rctoris@wpi.edu\r
+ */\r
+\r
+var Pose = require('../math/Pose');\r
+var Vector3 = require('../math/Vector3');\r
+var Quaternion = require('../math/Quaternion');\r
+\r
+var UrdfCylinder = require('./UrdfCylinder');\r
+var UrdfBox = require('./UrdfBox');\r
+var UrdfMaterial = require('./UrdfMaterial');\r
+var UrdfMesh = require('./UrdfMesh');\r
+var UrdfSphere = require('./UrdfSphere');\r
+\r
+/**\r
+ * A Visual element in a URDF.\r
+ *\r
+ * @constructor\r
+ * @param options - object with following keys:\r
+ * * xml - the XML element to parse\r
+ */\r
+function UrdfVisual(options) {\r
+ var xml = options.xml;\r
+ this.origin = null;\r
+ this.geometry = null;\r
+ this.material = null;\r
+\r
+ // Origin\r
+ var origins = xml.getElementsByTagName('origin');\r
+ if (origins.length === 0) {\r
+ // use the identity as the default\r
+ this.origin = new Pose();\r
+ } else {\r
+ // Check the XYZ\r
+ var xyz = origins[0].getAttribute('xyz');\r
+ var position = new Vector3();\r
+ if (xyz) {\r
+ xyz = xyz.split(' ');\r
+ position = new Vector3({\r
+ x : parseFloat(xyz[0]),\r
+ y : parseFloat(xyz[1]),\r
+ z : parseFloat(xyz[2])\r
+ });\r
+ }\r
+\r
+ // Check the RPY\r
+ var rpy = origins[0].getAttribute('rpy');\r
+ var orientation = new Quaternion();\r
+ if (rpy) {\r
+ rpy = rpy.split(' ');\r
+ // Convert from RPY\r
+ var roll = parseFloat(rpy[0]);\r
+ var pitch = parseFloat(rpy[1]);\r
+ var yaw = parseFloat(rpy[2]);\r
+ var phi = roll / 2.0;\r
+ var the = pitch / 2.0;\r
+ var psi = yaw / 2.0;\r
+ var x = Math.sin(phi) * Math.cos(the) * Math.cos(psi) - Math.cos(phi) * Math.sin(the)\r
+ * Math.sin(psi);\r
+ var y = Math.cos(phi) * Math.sin(the) * Math.cos(psi) + Math.sin(phi) * Math.cos(the)\r
+ * Math.sin(psi);\r
+ var z = Math.cos(phi) * Math.cos(the) * Math.sin(psi) - Math.sin(phi) * Math.sin(the)\r
+ * Math.cos(psi);\r
+ var w = Math.cos(phi) * Math.cos(the) * Math.cos(psi) + Math.sin(phi) * Math.sin(the)\r
+ * Math.sin(psi);\r
+\r
+ orientation = new Quaternion({\r
+ x : x,\r
+ y : y,\r
+ z : z,\r
+ w : w\r
+ });\r
+ orientation.normalize();\r
+ }\r
+ this.origin = new Pose({\r
+ position : position,\r
+ orientation : orientation\r
+ });\r
+ }\r
+\r
+ // Geometry\r
+ var geoms = xml.getElementsByTagName('geometry');\r
+ if (geoms.length > 0) {\r
+ var geom = geoms[0];\r
+ var shape = null;\r
+ // Check for the shape\r
+ for (var i = 0; i < geom.childNodes.length; i++) {\r
+ var node = geom.childNodes[i];\r
+ if (node.nodeType === 1) {\r
+ shape = node;\r
+ break;\r
+ }\r
+ }\r
+ // Check the type\r
+ var type = shape.nodeName;\r
+ if (type === 'sphere') {\r
+ this.geometry = new UrdfSphere({\r
+ xml : shape\r
+ });\r
+ } else if (type === 'box') {\r
+ this.geometry = new UrdfBox({\r
+ xml : shape\r
+ });\r
+ } else if (type === 'cylinder') {\r
+ this.geometry = new UrdfCylinder({\r
+ xml : shape\r
+ });\r
+ } else if (type === 'mesh') {\r
+ this.geometry = new UrdfMesh({\r
+ xml : shape\r
+ });\r
+ } else {\r
+ console.warn('Unknown geometry type ' + type);\r
+ }\r
+ }\r
+\r
+ // Material\r
+ var materials = xml.getElementsByTagName('material');\r
+ if (materials.length > 0) {\r
+ this.material = new UrdfMaterial({\r
+ xml : materials[0]\r
+ });\r
+ }\r
+}\r
+\r
+module.exports = UrdfVisual;\r
+},{"../math/Pose":19,"../math/Quaternion":20,"../math/Vector3":22,"./UrdfBox":27,"./UrdfCylinder":29,"./UrdfMaterial":32,"./UrdfMesh":33,"./UrdfSphere":35}],38:[function(require,module,exports){\r
+module.exports = require('object-assign')({\r
+ UrdfBox: require('./UrdfBox'),\r
+ UrdfColor: require('./UrdfColor'),\r
+ UrdfCylinder: require('./UrdfCylinder'),\r
+ UrdfLink: require('./UrdfLink'),\r
+ UrdfMaterial: require('./UrdfMaterial'),\r
+ UrdfMesh: require('./UrdfMesh'),\r
+ UrdfModel: require('./UrdfModel'),\r
+ UrdfSphere: require('./UrdfSphere'),\r
+ UrdfVisual: require('./UrdfVisual')\r
+}, require('./UrdfTypes'));\r
+\r
+},{"./UrdfBox":27,"./UrdfColor":28,"./UrdfCylinder":29,"./UrdfLink":31,"./UrdfMaterial":32,"./UrdfMesh":33,"./UrdfModel":34,"./UrdfSphere":35,"./UrdfTypes":36,"./UrdfVisual":37,"object-assign":2}],39:[function(require,module,exports){\r
+(function (global){\r
+module.exports = global.WebSocket;\r
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})\r
+},{}],40:[function(require,module,exports){\r
+/* global document */\r
+module.exports = function Canvas() {\r
+ return document.createElement('canvas');\r
+};\r
+},{}],41:[function(require,module,exports){\r
+(function (global){\r
+/**\r
+ * @fileOverview\r
+ * @author Graeme Yeates - github.com/megawac\r
+ */\r
+\r
+'use strict';\r
+\r
+var Canvas = require('canvas');\r
+var Image = Canvas.Image || global.Image;\r
+\r
+/**\r
+ * If a message was compressed as a PNG image (a compression hack since\r
+ * gzipping over WebSockets * is not supported yet), this function places the\r
+ * "image" in a canvas element then decodes the * "image" as a Base64 string.\r
+ *\r
+ * @private\r
+ * @param data - object containing the PNG data.\r
+ * @param callback - function with params:\r
+ * * data - the uncompressed data\r
+ */\r
+function decompressPng(data, callback) {\r
+ // Uncompresses the data before sending it through (use image/canvas to do so).\r
+ var image = new Image();\r
+ image.crossOrigin = "Anonymous";\r
+ // When the image loads, extracts the raw data (JSON message).\r
+ image.onload = function() {\r
+ // Creates a local canvas to draw on.\r
+ var canvas = new Canvas();\r
+ var context = canvas.getContext('2d');\r
+\r
+ // Sets width and height.\r
+ canvas.width = image.width;\r
+ canvas.height = image.height;\r
+\r
+ // Prevents anti-aliasing and loosing data\r
+ context.imageSmoothingEnabled = false;\r
+ context.webkitImageSmoothingEnabled = false;\r
+ context.mozImageSmoothingEnabled = false;\r
+\r
+ // Puts the data into the image.\r
+ context.drawImage(image, 0, 0);\r
+ // Grabs the raw, uncompressed data.\r
+ var imageData = context.getImageData(0, 0, image.width, image.height).data;\r
+\r
+ // Constructs the JSON.\r
+ var jsonData = '';\r
+ for (var i = 0; i < imageData.length; i += 4) {\r
+ // RGB\r
+ jsonData += String.fromCharCode(imageData[i], imageData[i + 1], imageData[i + 2]);\r
+ }\r
+ callback(JSON.parse(jsonData));\r
+ };\r
+ // Sends the image data to load.\r
+ image.src = 'data:image/png;base64,' + data;\r
+}\r
+\r
+module.exports = decompressPng;\r
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})\r
+},{"canvas":40}],42:[function(require,module,exports){\r
+(function (global){\r
+exports.DOMImplementation = global.DOMImplementation;\r
+exports.XMLSerializer = global.XMLSerializer;\r
+exports.DOMParser = global.DOMParser;\r
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})\r
+},{}]},{},[4]);\r
projects / ros_wild_thumper.git / commitdiff
