static

2024-12-04 10:21:04 +08:00
parent 9d776c65e9
commit c1ac42072f
4042 changed files with 2293732 additions and 1185 deletions
--- a/static/Magic4/BAK/test_ros_2.html
+++ b/static/Magic4/BAK/test_ros_2.html
@@ -0,0 +1,150 @@
+<!DOCTYPE html>
+<html>
+<head>
+<meta charset="utf-8" />
+<script type="text/javascript" src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
+<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
+<script type="text/javascript" type="text/javascript">
+  //连接ros
+  var ros = new ROSLIB.Ros({
+    url : 'ws://localhost:9090'
+  });
+
+  ros.on('connection', function() {
+    console.log('Connected to websocket server.');
+  });
+
+  ros.on('error', function(error) {
+    console.log('Error connecting to websocket server: ', error);
+  });
+
+  ros.on('close', function() {
+    console.log('Connection to websocket server closed.');
+  });
+
+
+ 
+function listener(){
+/*
+header: 
+  seq: 1514
+  stamp: 
+    secs: 0
+    nsecs:         0
+  frame_id: ''
+id: 256
+is_rtr: False
+is_extended: False
+is_error: False
+dlc: 8
+data: [16, 0, 1, 5, 120, 102, 239, 225]
+
+*/
+  var can_pub=new ROSLIB.Topic({
+    ros : ros,
+    name : '/js_can',
+    messageType : 'lu_ps20l_msgs/Msg_CANFrame'
+  });
+
+  var can_msg= new ROSLIB.Message({
+	header: {
+		stamp: {
+		    secs: 0, 
+		    nsecs: 0
+		}, 
+		frame_id: "", 
+		seq: 0
+	    }, 
+	id:123,
+	is_rtr:false,
+	is_extended:false,
+	is_error:false,
+	dlc:8,
+	data:[1, 2, 3, 4, 5, 6, 7, 8]	
+	
+  });
+  can_pub.publish(can_msg);
+
+
+  var talker = new ROSLIB.Topic({
+    ros : ros,
+    name : '/js_talker',
+    messageType : 'std_msgs/String'
+  });
+  var string_msg = new ROSLIB.Message({data:'hello'});
+  talker.publish(string_msg);
+
+
+  var cmdVel = new ROSLIB.Topic({
+    ros : ros,
+    name : '/js_cmd_vel',
+    messageType : 'geometry_msgs/Twist'
+  });
+
+  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
+    }
+  });
+  cmdVel.publish(twist);
+ // 订阅一个话题
+ 
+  var listener = new ROSLIB.Topic({
+    ros : ros,
+    name : '/chatter',
+    messageType : 'std_msgs/String'
+  });
+
+  listener.subscribe(function(message) {
+    console.log('Received message on ' + listener.name + ': ' + message.data);
+    listener.unsubscribe();
+  });
+
+  var can_sub = new ROSLIB.Topic({
+    ros : ros,
+    name : 'js_can',//'/Topic_HMI_CAN_SendFrame',
+    messageType : 'lu_ps20l_msgs/Msg_CANFrame'
+  });
+
+  can_sub.subscribe(function(message){
+
+  console.log('Received can message on ' + can_sub.name + ': ' + message.id +' '+message.is_rtr +' '+message.is_extended +' '+message.is_error+' '+message.dlc+' '+
+/*
+  +message.data[0]+' '
+  +message.data[1]+' '
+  +message.data[2]+' '
+  +message.data[3]+' '
+  +message.data[4]+' '
+  +message.data[5]+' '
+  +message.data[6]+' '
+  +message.data[7]+' '
+  +message.data[8]+' '
+  +message.data[9]+' '
+  +message.data[10]+' '
+  +message.data[11]+' '*/
+  );
+
+   can_sub.unsubscribe();
+  });
+ 
+}
+//重复执行某个方法
+var t2 = window.setInterval("listener()",100);
+
+
+</script>
+</head>
+
+<body>
+  <h1>Simple roslib Example</h1>
+  <p>Check your Web Console for output.</p>
+</body>
+</html>
+