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roslib.js
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(function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
'use strict';
function ToObject(val) {
if (val == null) {
throw new TypeError('Object.assign cannot be called with null or undefined');
}
return Object(val);
}
module.exports = Object.assign || function (target, source) {
var from;
var keys;
var to = ToObject(target);
for (var s = 1; s < arguments.length; s++) {
from = arguments[s];
keys = Object.keys(Object(from));
for (var i = 0; i < keys.length; i++) {
to[keys[i]] = from[keys[i]];
}
}
return to;
};
},{}],2:[function(require,module,exports){
exports.XMLSerializer = XMLSerializer;
exports.DOMParser = DOMParser;
exports.implementation = document.implementation;
},{}],3:[function(require,module,exports){
/**
* @author Russell Toris - [email protected]
*/
var ROSLIB = this.ROSLIB || {
REVISION : '0.11.0-SNAPSHOT'
};
var Ros = ROSLIB.Ros = require('./core/Ros');
ROSLIB.Topic = require('./core/Topic');
ROSLIB.Message = require('./core/Message');
ROSLIB.Param = require('./core/Param');
ROSLIB.Service = require('./core/Service');
ROSLIB.ServiceRequest = require('./core/ServiceRequest');
ROSLIB.ServiceResponse = require('./core/ServiceResponse');
ROSLIB.ActionClient = require('./actionlib/ActionClient');
ROSLIB.Goal = require('./actionlib/Goal');
ROSLIB.SimpleActionServer = require('./actionlib/SimpleActionServer');
ROSLIB.Pose = require('./math/Pose');
ROSLIB.Quaternion = require('./math/Quaternion');
ROSLIB.Transform = require('./math/Transform');
ROSLIB.Vector3 = require('./math/Vector3');
ROSLIB.TFClient = require('./tf/TFClient');
ROSLIB.UrdfBox = require('./urdf/UrdfBox');
ROSLIB.UrdfColor = require('./urdf/UrdfColor');
ROSLIB.UrdfCylinder = require('./urdf/UrdfCylinder');
ROSLIB.UrdfLink = require('./urdf/UrdfLink');
ROSLIB.UrdfMaterial = require('./urdf/UrdfMaterial');
ROSLIB.UrdfMesh = require('./urdf/UrdfMesh');
ROSLIB.UrdfModel = require('./urdf/UrdfModel');
ROSLIB.UrdfSphere = require('./urdf/UrdfSphere');
ROSLIB.UrdfVisual = require('./urdf/UrdfVisual');
// Add URDF types
require('object-assign')(ROSLIB, require('./urdf/UrdfTypes'));
['ActionClient', 'Param', 'Service', 'SimpleActionServer', 'Topic', 'TFClient'].forEach(function(className) {
var Class = ROSLIB[className];
Ros.prototype[className] = function(options) {
options.ros = this;
return new Class(options);
};
});
module.exports = ROSLIB;
},{"./actionlib/ActionClient":5,"./actionlib/Goal":6,"./actionlib/SimpleActionServer":7,"./core/Message":8,"./core/Param":9,"./core/Ros":10,"./core/Service":11,"./core/ServiceRequest":12,"./core/ServiceResponse":13,"./core/Topic":15,"./math/Pose":16,"./math/Quaternion":17,"./math/Transform":18,"./math/Vector3":19,"./tf/TFClient":20,"./urdf/UrdfBox":21,"./urdf/UrdfColor":22,"./urdf/UrdfCylinder":23,"./urdf/UrdfLink":24,"./urdf/UrdfMaterial":25,"./urdf/UrdfMesh":26,"./urdf/UrdfModel":27,"./urdf/UrdfSphere":28,"./urdf/UrdfTypes":29,"./urdf/UrdfVisual":30,"object-assign":1}],4:[function(require,module,exports){
(function (global){
global.ROSLIB = require('./RosLib');
}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
},{"./RosLib":3}],5:[function(require,module,exports){
/**
* @author Russell Toris - [email protected]
*/
var Topic = require('../core/Topic');
var Message = require('../core/Message');
var EventEmitter2 = require('./../util/shim/EventEmitter2.js').EventEmitter2;
/**
* An actionlib action client.
*
* Emits the following events:
* * 'timeout' - if a timeout occurred while sending a goal
* * 'status' - the status messages received from the action server
* * 'feedback' - the feedback messages received from the action server
* * 'result' - the result returned from the action server
*
* @constructor
* @param options - object with following keys:
* * ros - the ROSLIB.Ros connection handle
* * serverName - the action server name, like /fibonacci
* * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
* * timeout - the timeout length when connecting to the action server
*/
function ActionClient(options) {
var that = this;
options = options || {};
this.ros = options.ros;
this.serverName = options.serverName;
this.actionName = options.actionName;
this.timeout = options.timeout;
this.goals = {};
// flag to check if a status has been received
var receivedStatus = false;
// create the topics associated with actionlib
var feedbackListener = new Topic({
ros : this.ros,
name : this.serverName + '/feedback',
messageType : this.actionName + 'Feedback'
});
var statusListener = new Topic({
ros : this.ros,
name : this.serverName + '/status',
messageType : 'actionlib_msgs/GoalStatusArray'
});
var resultListener = new Topic({
ros : this.ros,
name : this.serverName + '/result',
messageType : this.actionName + 'Result'
});
this.goalTopic = new Topic({
ros : this.ros,
name : this.serverName + '/goal',
messageType : this.actionName + 'Goal'
});
this.cancelTopic = new Topic({
ros : this.ros,
name : this.serverName + '/cancel',
messageType : 'actionlib_msgs/GoalID'
});
// advertise the goal and cancel topics
this.goalTopic.advertise();
this.cancelTopic.advertise();
// subscribe to the status topic
statusListener.subscribe(function(statusMessage) {
receivedStatus = true;
statusMessage.status_list.forEach(function(status) {
var goal = that.goals[status.goal_id.id];
if (goal) {
goal.emit('status', status);
}
});
});
// subscribe the the feedback topic
feedbackListener.subscribe(function(feedbackMessage) {
var goal = that.goals[feedbackMessage.status.goal_id.id];
if (goal) {
goal.emit('status', feedbackMessage.status);
goal.emit('feedback', feedbackMessage.feedback);
}
});
// subscribe to the result topic
resultListener.subscribe(function(resultMessage) {
var goal = that.goals[resultMessage.status.goal_id.id];
if (goal) {
goal.emit('status', resultMessage.status);
goal.emit('result', resultMessage.result);
}
});
// If timeout specified, emit a 'timeout' event if the action server does not respond
if (this.timeout) {
setTimeout(function() {
if (!receivedStatus) {
that.emit('timeout');
}
}, this.timeout);
}
}
ActionClient.prototype.__proto__ = EventEmitter2.prototype;
/**
* Cancel all goals associated with this ActionClient.
*/
ActionClient.prototype.cancel = function() {
var cancelMessage = new Message();
this.cancelTopic.publish(cancelMessage);
};
module.exports = ActionClient;
},{"../core/Message":8,"../core/Topic":15,"./../util/shim/EventEmitter2.js":32}],6:[function(require,module,exports){
/**
* @author Russell Toris - [email protected]
*/
var Message = require('../core/Message');
var EventEmitter2 = require('./../util/shim/EventEmitter2.js').EventEmitter2;
/**
* An actionlib goal goal is associated with an action server.
*
* Emits the following events:
* * 'timeout' - if a timeout occurred while sending a goal
*
* @constructor
* @param object with following keys:
* * actionClient - the ROSLIB.ActionClient to use with this goal
* * goalMessage - The JSON object containing the goal for the action server
*/
function Goal(options) {
var that = this;
this.actionClient = options.actionClient;
this.goalMessage = options.goalMessage;
this.isFinished = false;
// Used to create random IDs
var date = new Date();
// Create a random ID
this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
// Fill in the goal message
this.goalMessage = new Message({
goal_id : {
stamp : {
secs : 0,
nsecs : 0
},
id : this.goalID
},
goal : this.goalMessage
});
this.on('status', function(status) {
that.status = status;
});
this.on('result', function(result) {
that.isFinished = true;
that.result = result;
});
this.on('feedback', function(feedback) {
that.feedback = feedback;
});
// Add the goal
this.actionClient.goals[this.goalID] = this;
}
Goal.prototype.__proto__ = EventEmitter2.prototype;
/**
* Send the goal to the action server.
*
* @param timeout (optional) - a timeout length for the goal's result
*/
Goal.prototype.send = function(timeout) {
var that = this;
that.actionClient.goalTopic.publish(that.goalMessage);
if (timeout) {
setTimeout(function() {
if (!that.isFinished) {
that.emit('timeout');
}
}, timeout);
}
};
/**
* Cancel the current goal.
*/
Goal.prototype.cancel = function() {
var cancelMessage = new Message({
id : this.goalID
});
this.actionClient.cancelTopic.publish(cancelMessage);
};
module.exports = Goal;
},{"../core/Message":8,"./../util/shim/EventEmitter2.js":32}],7:[function(require,module,exports){
/**
* @author Laura Lindzey - [email protected]
*/
var Topic = require('../core/Topic');
var Message = require('../core/Message');
var EventEmitter2 = require('./../util/shim/EventEmitter2.js').EventEmitter2;
/**
* An actionlib action server client.
*
* Emits the following events:
* * 'goal' - goal sent by action client
* * 'cancel' - action client has canceled the request
*
* @constructor
* @param options - object with following keys:
* * ros - the ROSLIB.Ros connection handle
* * serverName - the action server name, like /fibonacci
* * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
*/
function SimpleActionServer(options) {
var that = this;
options = options || {};
this.ros = options.ros;
this.serverName = options.serverName;
this.actionName = options.actionName;
// create and advertise publishers
this.feedbackPublisher = new Topic({
ros : this.ros,
name : this.serverName + '/feedback',
messageType : this.actionName + 'Feedback'
});
this.feedbackPublisher.advertise();
var statusPublisher = new Topic({
ros : this.ros,
name : this.serverName + '/status',
messageType : 'actionlib_msgs/GoalStatusArray'
});
statusPublisher.advertise();
this.resultPublisher = new Topic({
ros : this.ros,
name : this.serverName + '/result',
messageType : this.actionName + 'Result'
});
this.resultPublisher.advertise();
// create and subscribe to listeners
var goalListener = new Topic({
ros : this.ros,
name : this.serverName + '/goal',
messageType : this.actionName + 'Goal'
});
var cancelListener = new Topic({
ros : this.ros,
name : this.serverName + '/cancel',
messageType : 'actionlib_msgs/GoalID'
});
// Track the goals and their status in order to publish status...
this.statusMessage = new Message({
header : {
stamp : {secs : 0, nsecs : 100},
frame_id : ''
},
status_list : []
});
// needed for handling preemption prompted by a new goal being received
this.currentGoal = null; // currently tracked goal
this.nextGoal = null; // the one that'll be preempting
goalListener.subscribe(function(goalMessage) {
if(that.currentGoal) {
that.nextGoal = goalMessage;
// needs to happen AFTER rest is set up
that.emit('cancel');
} else {
that.statusMessage.status_list = [{goal_id : goalMessage.goal_id, status : 1}];
that.currentGoal = goalMessage;
that.emit('goal', goalMessage.goal);
}
});
// helper function for determing ordering of timestamps
// returns t1 < t2
var isEarlier = function(t1, t2) {
if(t1.secs > t2.secs) {
return false;
} else if(t1.secs < t2.secs) {
return true;
} else if(t1.nsecs < t2.nsecs) {
return true;
} else {
return false;
}
};
// TODO: this may be more complicated than necessary, since I'm
// not sure if the callbacks can ever wind up with a scenario
// where we've been preempted by a next goal, it hasn't finished
// processing, and then we get a cancel message
cancelListener.subscribe(function(cancelMessage) {
// cancel ALL goals if both empty
if(cancelMessage.stamp.secs === 0 && cancelMessage.stamp.secs === 0 && cancelMessage.id === '') {
that.nextGoal = null;
if(that.currentGoal) {
that.emit('cancel');
}
} else { // treat id and stamp independently
if(that.currentGoal && cancelMessage.id === that.currentGoal.goal_id.id) {
that.emit('cancel');
} else if(that.nextGoal && cancelMessage.id === that.nextGoal.goal_id.id) {
that.nextGoal = null;
}
if(that.nextGoal && isEarlier(that.nextGoal.goal_id.stamp,
cancelMessage.stamp)) {
that.nextGoal = null;
}
if(that.currentGoal && isEarlier(that.currentGoal.goal_id.stamp,
cancelMessage.stamp)) {
that.emit('cancel');
}
}
});
// publish status at pseudo-fixed rate; required for clients to know they've connected
var statusInterval = setInterval( function() {
var currentTime = new Date();
var secs = Math.floor(currentTime.getTime()/1000);
var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs));
that.statusMessage.header.stamp.secs = secs;
that.statusMessage.header.stamp.nsecs = nsecs;
statusPublisher.publish(that.statusMessage);
}, 500); // publish every 500ms
}
SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;
/**
* Set action state to succeeded and return to client
*/
SimpleActionServer.prototype.setSucceeded = function(result2) {
var resultMessage = new Message({
status : {goal_id : this.currentGoal.goal_id, status : 3},
result : result2
});
this.resultPublisher.publish(resultMessage);
this.statusMessage.status_list = [];
if(this.nextGoal) {
this.currentGoal = this.nextGoal;
this.nextGoal = null;
this.emit('goal', this.currentGoal.goal);
} else {
this.currentGoal = null;
}
};
/**
* Function to send feedback
*/
SimpleActionServer.prototype.sendFeedback = function(feedback2) {
var feedbackMessage = new Message({
status : {goal_id : this.currentGoal.goal_id, status : 1},
feedback : feedback2
});
this.feedbackPublisher.publish(feedbackMessage);
};
/**
* Handle case where client requests preemption
*/
SimpleActionServer.prototype.setPreempted = function() {
this.statusMessage.status_list = [];
var resultMessage = new Message({
status : {goal_id : this.currentGoal.goal_id, status : 2},
});
this.resultPublisher.publish(resultMessage);
if(this.nextGoal) {
this.currentGoal = this.nextGoal;
this.nextGoal = null;
this.emit('goal', this.currentGoal.goal);
} else {
this.currentGoal = null;
}
};
module.exports = SimpleActionServer;
},{"../core/Message":8,"../core/Topic":15,"./../util/shim/EventEmitter2.js":32}],8:[function(require,module,exports){
/**
* @author Brandon Alexander - [email protected]
*/
var assign = require('object-assign');
/**
* Message objects are used for publishing and subscribing to and from topics.
*
* @constructor
* @param values - object matching the fields defined in the .msg definition file
*/
function Message(values) {
assign(this, values);
}
module.exports = Message;
},{"object-assign":1}],9:[function(require,module,exports){
/**
* @author Brandon Alexander - [email protected]
*/
var Service = require('./Service');
var ServiceRequest = require('./ServiceRequest');
/**
* A ROS parameter.
*
* @constructor
* @param options - possible keys include:
* * ros - the ROSLIB.Ros connection handle
* * name - the param name, like max_vel_x
*/
function Param(options) {
options = options || {};
this.ros = options.ros;
this.name = options.name;
}
/**
* Fetches the value of the param.
*
* @param callback - function with the following params:
* * value - the value of the param from ROS.
*/
Param.prototype.get = function(callback) {
var paramClient = new Service({
ros : this.ros,
name : '/rosapi/get_param',
serviceType : 'rosapi/GetParam'
});
var request = new ServiceRequest({
name : this.name
});
paramClient.callService(request, function(result) {
var value = JSON.parse(result.value);
callback(value);
});
};
/**
* Sets the value of the param in ROS.
*
* @param value - value to set param to.
*/
Param.prototype.set = function(value) {
var paramClient = new Service({
ros : this.ros,
name : '/rosapi/set_param',
serviceType : 'rosapi/SetParam'
});
var request = new ServiceRequest({
name : this.name,
value : JSON.stringify(value)
});
paramClient.callService(request, function() {
});
};
/**
* Delete this parameter on the ROS server.
*/
Param.prototype.delete = function() {
var paramClient = new Service({
ros : this.ros,
name : '/rosapi/delete_param',
serviceType : 'rosapi/DeleteParam'
});
var request = new ServiceRequest({
name : this.name
});
paramClient.callService(request, function() {
});
};
module.exports = Param;
},{"./Service":11,"./ServiceRequest":12}],10:[function(require,module,exports){
/**
* @author Brandon Alexander - [email protected]
*/
var WebSocket = require('./../util/shim/WebSocket.js');
var socketAdapter = require('./SocketAdapter.js');
var Service = require('./Service');
var ServiceRequest = require('./ServiceRequest');
var assign = require('object-assign');
var EventEmitter2 = require('./../util/shim/EventEmitter2.js').EventEmitter2;
/**
* Manages connection to the server and all interactions with ROS.
*
* Emits the following events:
* * 'error' - there was an error with ROS
* * 'connection' - connected to the WebSocket server
* * 'close' - disconnected to the WebSocket server
* * <topicName> - a message came from rosbridge with the given topic name
* * <serviceID> - a service response came from rosbridge with the given ID
*
* @constructor
* @param options - possible keys include:
* * url (optional) - the WebSocket URL for rosbridge (can be specified later with `connect`)
* * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true)
*/
function Ros(options) {
options = options || {};
this.socket = null;
this.idCounter = 0;
this.isConnected = false;
if (typeof options.groovyCompatibility === 'undefined') {
this.groovyCompatibility = true;
}
else {
this.groovyCompatibility = options.groovyCompatibility;
}
// Sets unlimited event listeners.
this.setMaxListeners(0);
// begin by checking if a URL was given
if (options.url) {
this.connect(options.url);
}
}
Ros.prototype.__proto__ = EventEmitter2.prototype;
/**
* Connect to the specified WebSocket.
*
* @param url - WebSocket URL for Rosbridge
*/
Ros.prototype.connect = function(url) {
this.socket = assign(new WebSocket(url), socketAdapter(this));
};
/**
* Disconnect from the WebSocket server.
*/
Ros.prototype.close = function() {
if (this.socket) {
this.socket.close();
}
};
/**
* Sends an authorization request to the server.
*
* @param mac - MAC (hash) string given by the trusted source.
* @param client - IP of the client.
* @param dest - IP of the destination.
* @param rand - Random string given by the trusted source.
* @param t - Time of the authorization request.
* @param level - User level as a string given by the client.
* @param end - End time of the client's session.
*/
Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
// create the request
var auth = {
op : 'auth',
mac : mac,
client : client,
dest : dest,
rand : rand,
t : t,
level : level,
end : end
};
// send the request
this.callOnConnection(auth);
};
/**
* Sends the message over the WebSocket, but queues the message up if not yet
* connected.
*/
Ros.prototype.callOnConnection = function(message) {
var that = this;
var messageJson = JSON.stringify(message);
if (!this.isConnected) {
that.once('connection', function() {
that.socket.send(messageJson);
});
} else {
that.socket.send(messageJson);
}
};
/**
* Retrieves list of topics in ROS as an array.
*
* @param callback function with params:
* * topics - Array of topic names
*/
Ros.prototype.getTopics = function(callback) {
var topicsClient = new Service({
ros : this,
name : '/rosapi/topics',
serviceType : 'rosapi/Topics'
});
var request = new ServiceRequest();
topicsClient.callService(request, function(result) {
callback(result.topics);
});
};
/**
* Retrieves list of active service names in ROS.
*
* @param callback - function with the following params:
* * services - array of service names
*/
Ros.prototype.getServices = function(callback) {
var servicesClient = new Service({
ros : this,
name : '/rosapi/services',
serviceType : 'rosapi/Services'
});
var request = new ServiceRequest();
servicesClient.callService(request, function(result) {
callback(result.services);
});
};
/**
* Retrieves list of active node names in ROS.
*
* @param callback - function with the following params:
* * nodes - array of node names
*/
Ros.prototype.getNodes = function(callback) {
var nodesClient = new Service({
ros : this,
name : '/rosapi/nodes',
serviceType : 'rosapi/Nodes'
});
var request = new ServiceRequest();
nodesClient.callService(request, function(result) {
callback(result.nodes);
});
};
/**
* Retrieves list of param names from the ROS Parameter Server.
*
* @param callback function with params:
* * params - array of param names.
*/
Ros.prototype.getParams = function(callback) {
var paramsClient = new Service({
ros : this,
name : '/rosapi/get_param_names',
serviceType : 'rosapi/GetParamNames'
});
var request = new ServiceRequest();
paramsClient.callService(request, function(result) {
callback(result.names);
});
};
/**
* Retrieves a type of ROS topic.
*
* @param callback - function with params:
* * type - String of the topic type
*/
Ros.prototype.getTopicType = function(topic, callback) {
var topicTypeClient = new Service({
ros : this,
name : '/rosapi/topic_type',
serviceType : 'rosapi/TopicType'
});
var request = new ServiceRequest({
topic: topic
});
topicTypeClient.callService(request, function(result) {
callback(result.type);
});
};
/**
* Retrieves a detail of ROS message.
*
* @param callback - function with params:
* * details - Array of the message detail
* @param message - String of a topic type
*/
Ros.prototype.getMessageDetails = function(message, callback) {
var messageDetailClient = new Service({
ros : this,
name : '/rosapi/message_details',
serviceType : 'rosapi/MessageDetails'
});
var request = new ServiceRequest({
type: message
});
messageDetailClient.callService(request, function(result) {
callback(result.typedefs);
});
};
/**
* Decode a typedefs into a dictionary like `rosmsg show foo/bar`
*
* @param defs - array of type_def dictionary
*/
Ros.prototype.decodeTypeDefs = function(defs) {
var that = this;
// calls itself recursively to resolve type definition using hints.
var decodeTypeDefsRec = function(theType, hints) {
var typeDefDict = {};
for (var i = 0; i < theType.fieldnames.length; i++) {
var arrayLen = theType.fieldarraylen[i];
var fieldName = theType.fieldnames[i];
var fieldType = theType.fieldtypes[i];
if (fieldType.indexOf('/') === -1) { // check the fieldType includes '/' or not
if (arrayLen === -1) {
typeDefDict[fieldName] = fieldType;
}
else {
typeDefDict[fieldName] = [fieldType];
}
}
else {
// lookup the name
var sub = false;
for (var j = 0; j < hints.length; j++) {
if (hints[j].type.toString() === fieldType.toString()) {
sub = hints[j];
break;
}
}
if (sub) {
var subResult = decodeTypeDefsRec(sub, hints);
if (arrayLen === -1) {
typeDefDict[fieldName] = subResult;
}
else {
typeDefDict[fieldName] = [subResult];
}
}
else {
that.emit('error', 'Cannot find ' + fieldType + ' in decodeTypeDefs');
}
}
}
return typeDefDict;
};
return decodeTypeDefsRec(defs[0], defs);
};
module.exports = Ros;
},{"./../util/shim/EventEmitter2.js":32,"./../util/shim/WebSocket.js":33,"./Service":11,"./ServiceRequest":12,"./SocketAdapter.js":14,"object-assign":1}],11:[function(require,module,exports){
/**
* @author Brandon Alexander - [email protected]
*/
var ServiceResponse = require('./ServiceResponse');
/**
* A ROS service client.
*
* @constructor
* @params options - possible keys include:
* * ros - the ROSLIB.Ros connection handle
* * name - the service name, like /add_two_ints
* * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
*/
function Service(options) {
options = options || {};
this.ros = options.ros;
this.name = options.name;
this.serviceType = options.serviceType;
}
/**
* Calls the service. Returns the service response in the callback.
*
* @param request - the ROSLIB.ServiceRequest to send
* @param callback - function with params:
* * response - the response from the service request
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Service.prototype.callService = function(request, callback, failedCallback) {
this.ros.idCounter++;
var serviceCallId = 'call_service:' + this.name + ':' + this.ros.idCounter;
this.ros.once(serviceCallId, function(message) {
if (message.result !== undefined && message.result === false) {
if (typeof failedCallback === 'function') {
failedCallback(message.values);
}
} else {
var response = new ServiceResponse(message.values);
callback(response);
}
});
var call = {
op : 'call_service',
id : serviceCallId,
service : this.name,
args : request
};
this.ros.callOnConnection(call);
};
module.exports = Service;
},{"./ServiceResponse":13}],12:[function(require,module,exports){
/**
* @author Brandon Alexander - [email protected]
*/
var assign = require('object-assign');
/**
* A ServiceRequest is passed into the service call.
*
* @constructor
* @param values - object matching the fields defined in the .srv definition file
*/
function ServiceRequest(values) {
assign(this, values);
}
module.exports = ServiceRequest;
},{"object-assign":1}],13:[function(require,module,exports){
/**
* @author Brandon Alexander - [email protected]
*/
var assign = require('object-assign');
/**
* A ServiceResponse is returned from the service call.
*
* @constructor
* @param values - object matching the fields defined in the .srv definition file
*/
function ServiceResponse(values) {
assign(this, values);
}
module.exports = ServiceResponse;
},{"object-assign":1}],14:[function(require,module,exports){
(function (global){
/**
* Socket event handling utilities for handling events on either
* WebSocket and TCP sockets
*