75 lines
1.7 KiB
HTML
75 lines
1.7 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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/*
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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 : '/talker',
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messageType : 'std_msgs/String'
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});
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var string_msg = new ROSLIB.Message({'ABC'});
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cmdVel.publish(string_msg);
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*/
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function listener(){
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var talker = new ROSLIB.Topic({
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ros : ros,
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name : '/talker',
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messageType : 'std_msgs/String'
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});
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var string_msg = new ROSLIB.Message({data:'hello'});
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talker.publish(string_msg);
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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 : '/chatter',
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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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}
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//重复执行某个方法
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//var t1 = window.setInterval(listener,1000);
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var t2 = window.setInterval("listener()",10);
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//去掉定时器的方法
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//window.clearInterval(t1);
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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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