109 lines
2.4 KiB
HTML
109 lines
2.4 KiB
HTML
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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8" />
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<script type="text/javascript" src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
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<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
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<script type="text/javascript" type="text/javascript">
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//连接ros
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var ros = new ROSLIB.Ros({
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url : 'ws://localhost:9090'
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});
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ros.on('connection', function() {
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console.log('Connected to websocket server.');
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});
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ros.on('error', function(error) {
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console.log('Error connecting to websocket server: ', error);
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});
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ros.on('close', function() {
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console.log('Connection to websocket server closed.');
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});
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// 发布一个话题
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var cmdVel = new ROSLIB.Topic({
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ros : ros,
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name : '/cmd_vel',
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messageType : 'geometry_msgs/Twist'
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});
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var twist = new ROSLIB.Message({
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linear : {
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x : 0.1,
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y : 0.2,
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z : 0.3
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},
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angular : {
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x : -0.1,
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y : -0.2,
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z : -0.3
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}
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});
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cmdVel.publish(twist);
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// 订阅一个话题
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var listener = new ROSLIB.Topic({
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ros : ros,
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name : '/listener',
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messageType : 'std_msgs/String'
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});
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listener.subscribe(function(message) {
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console.log('Received message on ' + listener.name + ': ' + message.data);
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listener.unsubscribe();
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});
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// Calling a service
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var addTwoIntsClient = new ROSLIB.Service({
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ros : ros,
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name : '/add_two_ints',
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serviceType : 'rospy_tutorials/AddTwoInts'
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});
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var request = new ROSLIB.ServiceRequest({
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a : 1,
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b : 2
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});
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addTwoIntsClient.callService(request, function(result) {
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console.log('Result for service call on '
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+ addTwoIntsClient.name
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+ ': '
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+ result.sum);
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});
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// 获取和设置一个参数值
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ros.getParams(function(params) {
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console.log(params);
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});
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var maxVelX = new ROSLIB.Param({
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ros : ros,
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name : 'max_vel_y'
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});
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maxVelX.set(0.8);
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maxVelX.get(function(value) {
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console.log('MAX VAL: ' + value);
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});
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</script>
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</head>
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<body>
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<h1>Simple roslib Example</h1>
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<p>Check your Web Console for output.</p>
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</body>
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</html>
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————————————————
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版权声明：本文为CSDN博主「Smile沛沛」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
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原文链接：https://blog.csdn.net/qq_34273059/article/details/99854339
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