151 lines
3.0 KiB
HTML
151 lines
3.0 KiB
HTML
<!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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function listener(){
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/*
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header:
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seq: 1514
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stamp:
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secs: 0
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nsecs: 0
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frame_id: ''
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id: 256
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is_rtr: False
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is_extended: False
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is_error: False
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dlc: 8
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data: [16, 0, 1, 5, 120, 102, 239, 225]
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*/
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var can_pub=new ROSLIB.Topic({
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ros : ros,
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name : '/js_can',
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messageType : 'lu_ps20l_msgs/Msg_CANFrame'
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});
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var can_msg= new ROSLIB.Message({
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header: {
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stamp: {
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secs: 0,
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nsecs: 0
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},
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frame_id: "",
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seq: 0
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},
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id:123,
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is_rtr:false,
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is_extended:false,
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is_error:false,
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dlc:8,
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data:[1, 2, 3, 4, 5, 6, 7, 8]
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});
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can_pub.publish(can_msg);
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var talker = new ROSLIB.Topic({
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ros : ros,
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name : '/js_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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var cmdVel = new ROSLIB.Topic({
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ros : ros,
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name : '/js_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 : '/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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var can_sub = new ROSLIB.Topic({
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ros : ros,
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name : 'js_can',//'/Topic_HMI_CAN_SendFrame',
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messageType : 'lu_ps20l_msgs/Msg_CANFrame'
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});
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can_sub.subscribe(function(message){
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console.log('Received can message on ' + can_sub.name + ': ' + message.id +' '+message.is_rtr +' '+message.is_extended +' '+message.is_error+' '+message.dlc+' '+
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/*
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+message.data[0]+' '
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+message.data[1]+' '
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+message.data[2]+' '
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+message.data[3]+' '
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+message.data[4]+' '
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+message.data[5]+' '
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+message.data[6]+' '
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+message.data[7]+' '
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+message.data[8]+' '
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+message.data[9]+' '
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+message.data[10]+' '
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+message.data[11]+' '*/
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);
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can_sub.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 t2 = window.setInterval("listener()",100);
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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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