- <style>
- .minicolors-theme-default.minicolors { margin: 5px; }
- .bottom-leds > .minicolors-theme-default.minicolors { margin: 5px 0; }
- .top-leds > .minicolors-theme-default.minicolors { margin-top: 70px; }
- .wt-icon {background: url('assets/images/wt_top.png'); background-size: cover; background-size: 100%; background-repeat: no-repeat; background-position: center; height: 260px;}
- .cmd_vel_circle {
- height: 250px;
- width: 250px;
- background-color: #bbb;
- border-radius: 50%;
- display: inline-block;
- }
- </style>
-
- <script type="text/javascript">
- function init() {
- var ros = new ROSLIB.Ros();
- ros.connect('ws://wildthumper:9090');
- var isDragging = false;
-
- ros.on('connection', function() {
- information.alerts.push({message: "Connected to websocket server.", success: true});
- });
-
- ros.on('error', function(error) {
- information.alerts.push({message: "Error connecting to websocket server.", danger: true});
- });
-
- ros.on('close', function() {
- information.alerts.push({message: "Connection to websocket server closed.", info: true});
- });
-
- //tfClient.subscribe('base_link', function(tf) {
- // var now = new Date();
- // $("#pose").text(now.toLocaleTimeString() + ": (" + tf.translation.x + ", " + tf.translation.y + ")");
-
- // robotMarker.x = tf.translation.x;
- // robotMarker.y = -tf.translation.y;
- // robotMarker.rotation = viewer2D.scene.rosQuaternionToGlobalTheta(tf.rotation);
- //});
- var poseTopic = new ROSLIB.Topic({ros: ros, name: '/robot_pose', messageType: 'geometry_msgs/Pose'});
- var sensorTopic = new ROSLIB.Topic({ros: ros, name: '/sensors', messageType: 'wild_thumper/Sensor'});
- var batteryTopic = new ROSLIB.Topic({ros: ros, name: '/battery', messageType: 'sensor_msgs/BatteryState'});
- var ledStripeTopic = new ROSLIB.Topic({ros: ros, name: '/led_stripe', messageType: 'wild_thumper/LedStripe'});
- var cmdVelTopic = new ROSLIB.Topic({ros: ros, name: '/teleop/cmd_vel', messageType: 'geometry_msgs/Twist'});
-
- poseTopic.subscribe(function(message) {
- var now = new Date();
- $("#pose").text(now.toLocaleTimeString() + ": (" + message.position.x + ", " + message.position.y + ")");
- });
-
- sensorTopic.subscribe(function(message) {
- sensors.light = message.light;
- sensors.temp = message.temp.toFixed(1);
- sensors.humidity = message.humidity;
- sensors.pressure = message.pressure.toFixed(1);
- sensors.co = message.co;
- });
-
- batteryTopic.subscribe(function(message) {
- power.voltage = message.voltage.toFixed(1);
- power.current = message.current.toFixed(1);
- });
-
- viewer2D = new ROS2D.Viewer({
- divID: 'map',
- width: 640,
- height: 480,
- background: "#efefef"
- });
- $('#map')
- .bind('mousewheel', function(e) {
- if (e.originalEvent.wheelDelta/120 > 0) {
- viewer2D.scaleToDimensions(10, 10)
- } else {
- viewer2D.scaleToDimensions(5, 5)
- }
- })
- .mousedown(function() {
- isDragging = true;
- mousePreX = undefined;
- mousePreY = undefined;
- })
- .mouseup(function() {
- isDragging = false;
- })
- .mousemove(function(event) {
- if (isDragging) {
- if (mousePreX != undefined && mousePreY != undefined) {
- var diffX = event.pageX - mousePreX;
- var diffY = event.pageY - mousePreY;
- console.log("Moving viewer2D by " + diffX + ", " + diffY);
- viewer2D.shift(diffX, diffY);
- }
- mousePreX = event.pageX;
- mousePreY = event.pageY;
- }
- });
-
- // Setup the nav client.
- NAV2D.OccupancyGridClientNav({
- ros : ros,
- rootObject : viewer2D.scene,
- viewer : viewer2D,
- serverName : '/move_base'
- });
-
- // Initialize the teleop.
- teleop = new KEYBOARDTELEOP.Teleop({
- ros : ros,
- topic : '/teleop/cmd_vel'
- });
-
- // Create a UI slider using JQuery UI.
- $('#speed-slider').slider({
- range : 'min',
- min : 0.10,
- max : 1.0,
- step : 0.05,
- value : 0.5,
- slide : function(event, ui) {
- // Change the speed label.
- speed_label.speed = ui.value;
- // Scale the speed.
- teleop.scale = (ui.value * 2);
- }
- });
-
- // Set the initial speed.
- teleop.scale = ($('#speed-slider').slider('value') * 2);
-
- $('.led_color').minicolors({
- control: 'wheel',
- format: 'rgb',
- defaultValue: '#000000',
- change: function(value) {
- var rgb = $(this).minicolors('rgbObject');
- var nums = jQuery.parseJSON($(this).prop("name"));
- var msg = new ROSLIB.Message({
- leds: []
- });
- jQuery.each(nums, function(i, num) {
- msg["leds"].push({
- num: num,
- red: parseInt(rgb.r*127/255),
- green: parseInt(rgb.g*127/255),
- blue: parseInt(rgb.b*127/255)
- })
- });
- ledStripeTopic.publish(msg);
- }
- });
-
- function setSpeed(trans, rot) {
- var msg = new ROSLIB.Message({
- linear: {
- x : trans,
- y : 0,
- z : 0
- },
- angular: {
- x : 0,
- y : 0,
- z : rot
- },
- });
- cmdVelTopic.publish(msg);
- }
-
- $('.cmd_vel_circle')
- .bind('mousedown touchstart', function(e) {
- isDragging = true;
- })
- .bind('mouseup touchend mouseleave', function(e) {
- isDragging = false;
- setSpeed(0, 0);
- })
- .bind('mousemove touchmove', function(e) {
- if (isDragging) {
- // absolute click position
- var X,Y;
- if (e.originalEvent.touches) {
- X = e.originalEvent.touches[0].pageX;
- Y = e.originalEvent.touches[0].pageY;
- } else {
- X = e.pageX;
- Y = e.pageY;
- }
- // relative click position
- var Xrel = X - this.offsetLeft - $(this).width()/2;
- var Yrel = Y - this.offsetTop - $(this).height()/2;
- // scale to -1..+1
- var trans = -Yrel / ($(this).height()/2);
- var rot = -Xrel / ($(this).width()/2);
- setSpeed(trans, rot*3);
- }
- });
-
- information = new Vue({
- el: '#information',
- data: {
- alerts: [],
- },
- methods: {
- classObject: function(id) {
- return {
- "alert-success": this.alerts[id].success,
- "alert-danger": this.alerts[id].danger,
- "alert-info": this.alerts[id].info
- }
- }
- }
- })
-
- sensors = new Vue({
- el: '#sensors',
- data: {light: '', temp: '', humidity: '', pressure: '', co: ''}
- })
-
- power = new Vue({
- el: '#power',
- data: {
- voltage: '',
- current: '',
- }
- })
projects / ros_wild_thumper.git / commitdiff