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Add ROS 2 action support (#645)
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@sea-bass
sea-bass authored Dec 19, 2023
1 parent a8b73ba commit 67ce301
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0 examples/fibonacci.html → examples/action_client.html
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0 examples/fibonacci_server.html → examples/action_server.html
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85 changes: 85 additions & 0 deletions examples/ros2_action_client.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script src="../build/roslib.js"></script>

<script>
// Connecting to ROS
// -----------------
var ros = new ROSLIB.Ros({
url : 'ws://localhost:9090'
});

// If there is an error on the backend, an 'error' emit will be emitted.
ros.on('error', function(error) {
document.getElementById('connecting').style.display = 'none';
document.getElementById('connected').style.display = 'none';
document.getElementById('closed').style.display = 'none';
document.getElementById('error').style.display = 'inline';
console.log(error);
});

// Find out exactly when we made a connection.
ros.on('connection', function() {
console.log('Connection made!');
document.getElementById('connecting').style.display = 'none';
document.getElementById('error').style.display = 'none';
document.getElementById('closed').style.display = 'none';
document.getElementById('connected').style.display = 'inline';
});

ros.on('close', function() {
console.log('Connection closed.');
document.getElementById('connecting').style.display = 'none';
document.getElementById('connected').style.display = 'none';
document.getElementById('closed').style.display = 'inline';
});

// The ActionClient
// ----------------

var fibonacciClient = new ROSLIB.Action({
ros : ros,
name : '/fibonacci',
actionType : 'action_tutorials_interfaces/Fibonacci'
});

// Send an action goal
var goal = {order: 5};

var goal_id = fibonacciClient.sendGoal(goal,
function(result) {
console.log('Result for action goal on ' + fibonacciClient.name + ': ' + result.result.sequence);
},
function(feedback) {
console.log('Feedback for action on ' + fibonacciClient.name + ': ' + feedback.partial_sequence);
},
);
</script>
</head>

<body>
<h1>Fibonacci ActionClient Example</h1>
<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
console for the output.</p>
<ol>
<li><tt>ros2 launch rosbridge_server rosbridge_websocket_launch.xml</tt></li>
<li><tt>ros2 run action_tutorials_py fibonacci_action_server</tt></li>
</ol>
<div id="statusIndicator">
<p id="connecting">
Connecting to rosbridge...
</p>
<p id="connected" style="color:#00D600; display:none">
Connected
</p>
<p id="error" style="color:#FF0000; display:none">
Error in the backend!
</p>
<p id="closed" style="display:none">
Connection closed.
</p>
</div>
</body>
</html>
74 changes: 74 additions & 0 deletions examples/ros2_action_server.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script src="../build/roslib.js"></script>

<script>
// Connecting to ROS
// -----------------
var ros = new ROSLIB.Ros({
url : 'ws://localhost:9090'
});

// If there is an error on the backend, an 'error' emit will be emitted.
ros.on('error', function(error) {
console.log(error);
});

// The ActionServer
// ----------------

var fibonacciServer = new ROSLIB.Action({
ros : ros,
name : '/fibonacci',
actionType : 'action_tutorials_interfaces/Fibonacci'
});

var actionCallback = function(goal, id) {
console.log('Received action goal on ' + fibonacciServer.name + ', order: ' + goal.order);
console.log('ID: ' + id);
fibonacciSequence = [];
fibonacciSequence.push(0);
fibonacciSequence.push(1);

// failure case
if (goal.order > 47) {
console.log('Aborting. Value will exceed maximum signed integer value.');
fibonacciServer.setFailed(id);
return;
}

// publish feedback
for (var i = 1; i < goal.order; i++) {
fibonacciSequence.push( fibonacciSequence[i] + fibonacciSequence[i-1] );
console.log('Sending feedback: ' + fibonacciSequence);
fibonacciServer.sendFeedback(id, { partial_sequence : fibonacciSequence });
}

// send result
console.log('Sending result: ' + fibonacciSequence);
fibonacciServer.setSucceeded(id, { sequence: fibonacciSequence });
};
var cancelCallback = function(id) {
console.log('Canceled action with goal ID ' + id);
};

fibonacciServer.advertise(actionCallback, cancelCallback);
</script>
</head>

<body>
<h1>Fibonacci ActionServer Example</h1>
<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
console for the output.</p>
<ol>
<li><tt>ros2 launch rosbridge_server rosbridge_websocket_launch.xml</tt></li>
<li><tt>refresh this page</tt></li>
<li><tt>ros2 run action_tutorials_py fibonacci_action_client</tt>
<br>or<br>
<tt>ros2 action send_goal --feedback /fibonacci action_tutorials_interfaces/action/Fibonacci order:\ 20\ </tt>
</li>
</ol>
</body>
</html>
173 changes: 173 additions & 0 deletions examples/ros2_simple.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="../build/roslib.js"></script>

<script>
// Connecting to ROS
// -----------------
var ros = new ROSLIB.Ros();

// If there is an error on the backend, an 'error' emit will be emitted.
ros.on('error', function(error) {
document.getElementById('connecting').style.display = 'none';
document.getElementById('connected').style.display = 'none';
document.getElementById('closed').style.display = 'none';
document.getElementById('error').style.display = 'inline';
console.log(error);
});

// Find out exactly when we made a connection.
ros.on('connection', function() {
console.log('Connection made!');
document.getElementById('connecting').style.display = 'none';
document.getElementById('error').style.display = 'none';
document.getElementById('closed').style.display = 'none';
document.getElementById('connected').style.display = 'inline';
});

ros.on('close', function() {
console.log('Connection closed.');
document.getElementById('connecting').style.display = 'none';
document.getElementById('connected').style.display = 'none';
document.getElementById('closed').style.display = 'inline';
});

// Create a connection to the rosbridge WebSocket server.
ros.connect('ws://localhost:9090');

// Publishing a Topic
// ------------------

// First, we create a Topic object with details of the topic's name and message type.
var cmdVel = new ROSLIB.Topic({
ros : ros,
name : '/cmd_vel',
messageType : 'geometry_msgs/Twist'
});

// Then we create the payload to be published. The object we pass in to ros.Message matches the
// fields defined in the geometry_msgs/Twist.msg definition.
var twist = new ROSLIB.Message({
linear : {
x : 0.1,
y : 0.2,
z : 0.3
},
angular : {
x : -0.1,
y : -0.2,
z : -0.3
}
});

// And finally, publish.
cmdVel.publish(twist);

// Subscribing to a Topic
// ----------------------

// Like when publishing a topic, we first create a Topic object with details of the topic's name
// and message type. Note that we can call publish or subscribe on the same topic object.
var listener = new ROSLIB.Topic({
ros : ros,
name : '/listener',
messageType : 'std_msgs/String'
});

// Then we add a callback to be called every time a message is published on this topic.
listener.subscribe(function(message) {
console.log('Received message on ' + listener.name + ': ' + message.data);

// If desired, we can unsubscribe from the topic as well.
listener.unsubscribe();
});

// Calling a service
// -----------------

// First, we create a Service client with details of the service's name and service type.
var addTwoIntsClient = new ROSLIB.Service({
ros : ros,
name : '/add_two_ints',
serviceType : 'example_interfaces/AddTwoInts'
});

// Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the
// fields defined in the rospy_tutorials AddTwoInts.srv file.
var request = new ROSLIB.ServiceRequest({
a : 1,
b : 2
});

// Finally, we call the /add_two_ints service and get back the results in the callback. The result
// is a ROSLIB.ServiceResponse object.
addTwoIntsClient.callService(request, function(result) {
console.log('Result for service call on ' + addTwoIntsClient.name + ': ' + result.sum);
});

// Advertising a Service
// ---------------------

// The Service object does double duty for both calling and advertising services
var setBoolServer = new ROSLIB.Service({
ros : ros,
name : '/set_bool',
serviceType : 'std_srvs/SetBool'
});

// Use the advertise() method to indicate that we want to provide this service
setBoolServer.advertise(function(request, response) {
console.log('Received service request on ' + setBoolServer.name + ': ' + request.data);
response['success'] = true;
response['message'] = 'Set successfully';
return true;
});

// Getting a param value
// ---------------------

// In ROS 2, params are set in the format 'node_name:param_name'
var favoriteColor = new ROSLIB.Param({
ros : ros,
name : '/add_two_ints_server:use_sim_time'
});

favoriteColor.get(function(value) {
console.log('The value of use_sim_time before setting is ' + value);
});
favoriteColor.set(true);
favoriteColor.get(function(value) {
console.log('The value of use_sim_time after setting is ' + value);
});
</script>
</head>

<body>
<h1>Simple roslib Example</h1>
<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
console for the output.</p>
<ol>
<li><tt>ros2 topic pub /listener std_msgs/msg/String "{ data: 'hello world' }" </tt></li>
<li><tt>ros2 topic echo /cmd_vel</tt></li>
<li><tt>ros2 run demo_nodes_py add_two_ints_server</tt></li>
<li><tt>ros2 launch rosbridge_server rosbridge_websocket_launch.xml</tt></li>
</ol>
<div id="statusIndicator">
<p id="connecting">
Connecting to rosbridge...
</p>
<p id="connected" style="color:#00D600; display:none">
Connected
</p>
<p id="error" style="color:#FF0000; display:none">
Error in the backend!
</p>
<p id="closed" style="display:none">
Connection closed.
</p>
</div>
</body>
</html>
6 changes: 3 additions & 3 deletions examples/simple.html
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// And finally, publish.
cmdVel.publish(twist);

//Subscribing to a Topic
//----------------------
// Subscribing to a Topic
// ----------------------

// Like when publishing a topic, we first create a Topic object with details of the topic's name
// and message type. Note that we can call publish or subscribe on the same topic object.
Expand Down Expand Up @@ -138,7 +138,7 @@
name : 'max_vel_y'
});

//Then we set the value of the param, which is sent to the ROS Parameter Server.
// Then we set the value of the param, which is sent to the ROS Parameter Server.
maxVelX.set(0.8);
maxVelX.get(function(value) {
console.log('MAX VAL: ' + value);
Expand Down
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