Create robotics.js

Author: KOSASIH

routes/robotics.js

@@ -0,0 +1,25 @@
+import express from 'express';
+import * as ROS from 'ros-nodejs';
+
+const router = express.Router();
+const ros = new ROS.Node({
+  url: 'ws://localhost:9090',
+  topics: ['cmd_vel', 'odom'],
+});
+
+router.post('/move-robot', (req, res) => {
+  const { velocity } = req.body;
+  const msg = new ROS.Message({
+    linear: { x: velocity.x, y: velocity.y, z: velocity.z },
+    angular: { x: velocity.rx, y: velocity.ry, z: velocity.rz },
+  });
+  ros.publish('cmd_vel', msg);
+  res.json({ message: 'Robot moving' });
+});
+
+router.get('/get-robot-odometry', (req, res) => {
+  const odom = ros.subscribe('odom');
+  res.json({ odom });
+});
+
+export default router;