README.md

API

Ros

Method	Details
Constructor import { Ros } from '@robostack/roslib'; const ros = new Ros(options);	Available options: 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) transportLibrary (optional) - one of '[websocket]', 'workersocket' (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.
.connect(url: string): void	Connect to the specified WebSocket. url - WebSocket URL or RTCDataChannel label for Rosbridge
.close(): void	Disconnect from the WebSocket server.
.authenticate( mac: string, client: string, dest: string, rand: string, t: number, level: string, end: number, ): void	Sends an authorization request to the server. mac - MAC (hash) string given by the trusted source. client - IP of the client. dest - IP of the destination. rand - Random string given by the trusted source. t - Time of the authorization request. level - User level as a string given by the client. end - End time of the client's session.
.callOnConnection(message: any): void	Sends the message over the WebSocket, but queues the message up if not yet connected.
setStatusLevel(level, id: number): void	Sends a set_level request to the server level - Status level (none, error, warning, info) id(optional) - Operation ID to change status level on
.getActionServers(callback, failedCallback): void	Retrieves Action Servers in ROS as an array of string Callback will receive an array of action server names failedCallback will receive the error message reported by ROS
.getTopics(callback, failedCallback): void	Retrieves list of topics in ROS as an array. Callback response topics - Array of topic names types - Array of message type names failedCallback will receive the error message reported by ROS
.getTopicsForType(topicType, callback, failedCallback): void	Retrieves Topics in ROS as an array as specific type. topicType - topic type to find callback receives an array of topic names failedCallback will receive the error message reported by ROS
.getServices(callback, failedCallback): void	Retrieves list of active service names in ROS. Callback will receive the array of service names failedCallback will receive the error message reported by ROS
.getServicesForType(serviceType, callback, failedCallback): void	Retrieves services in ROS as an array. serviceType - service type to find callback receives an array of service names failedCallback will receive the error message reported by ROS
.getServiceRequestDetails(type, callback, failedCallback): void	Retrieves a detail of ROS service request. Callback will receive the service type failedCallback will receive the error message reported by ROS
.getServiceResponseDetails(type, callback, failedCallback): void	Retrieves a detail of ROS service response. Callback will receive the service type failedCallback will receive the error message reported by ROS
.getNodes(callback, failedCallback): void	Retrieves list of active node names in ROS. Callback will receive an array of node names failedCallback will receive the error message reported by ROS
.getNodeDetails(nodeName, callback, failedCallback): void	Retrieves list of subscribed topics, publishing topics and services of a node with the given name Callback response publications - array of published topic names subscriptions - array of subscribed topic names services - array of service names hosted failedCallback will receive the error message reported by ROS
.getParams(callback, failedCallback): void	Retrieves list of param names from the ROS Parameter Server. Callback will receive the array of param names failedCallback will receive the error message reported by ROS
.getTopicType(topicName, callback, failedCallback): void	Retrieves a type of ROS topic. Callback will receive the string for topic type failedCallback will receive the error message reported by ROS
.getServiceType(serviceName, callback, failedCallback): void	Retrieves a type of ROS service. Callback will receive the string for service type failedCallback will receive the error message reported by ROS
.getMessageDetails(topicType, callback, failedCallback): void	Retrieves a detail of ROS message. Callback will receive the array of message detail failedCallback will receive the error message reported by ROS
.decodeTypeDefs(defs): dict	Decode a typedefs into a dictionary like `rosmsg show foo/bar`. Calls itself recursively to resolve type definition using hints. defs - array of type_def dictionary dict - Decoded typedef dictionary
.getTopicsAndRawTypes(callback, failedCallback): void	Retrieves list of topics and their associated type definitions. Callback response topics - Array of topic names types - Array of message type names typedefs_full_text - Array of full definitions of message types, similar to `gendeps --cat` failedCallback will receive the error message reported by ROS

Message

Method	Details
Constructor import { Message } from '@robostack/roslib'; const ros = new Message(data);	Message objects are used for publishing and subscribing to and from topics. `data` - object matching the fields defined in the .msg definition file

Param

Method	Details
Constructor import { Param } from '@robostack/roslib'; const ros = new Param(options);	Available options: ros - the ROSLIB.Ros connection handle name - the param name, like max_vel_x
.get(callback: (value: any) => void): void	Fetches the value of the param in ROS. The callback function will receive the value of the Ros Param
.set(value, callback: (response: any) => void): void	Sets the value of the param in ROS. The callback function will be called after the value of the Ros Param is set
.delete(callback: (response: any) => void): void	Delete this parameter on the ROS server. The callback function will be called after the value of the Ros Param is deleted

Service

Method	Details
Constructor import { Service } from '@robostack/roslib'; const ros = new Service(options);	Available options: ros - the ROSLIB.Ros connection handle name - the service name, like /add_two_ints serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
.callService(request: ServiceRequest, callback: (response: any) => void, failedCallback?: (error: any) => void): void	Calls the service. Returns the service response in the callback. Does nothing if this service is currently advertised. request - the ROSLIB.ServiceRequest to send callback - Function with the response from the service request failedCallback(optional) - the callback function when the service call failed. Invoked with the error message reported by ROS
.advertise(callback: (request: any, response: any) => void): void	Advertise the service. This turns the Service object from a client into a server. The callback will receive every request that's made on this service. request - the ROSLIB.ServiceRequest to send response - It should return true if the service has finished successfully, i.e. without any fatal errors.
.unadvertise(): void	Unadvertise the service.

Topic

Method	Details
Constructor import { Topic } from '@robostack/roslib'; const topic = new Topic(options);	Available options: ros - the `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', 'cbor', or 'cbor-raw' 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).
.subscribe(callback: (RosMessage) => void): void	Every time a message is published for the given topic, the callback will receive the message object.
.unsubscribe(callback: (RosMessage) => void): void	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
.advertise(): void	Registers as a publisher for the topic.
.unadvertise(): void	Unregisters as a publisher for the topic.
.publish(RosMessage): void	Publish the message. The library does not validate the schema of the published message data