Constructor
new Ros(options)
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
* - a message came from rosbridge with the given topic name
* - a service response came from rosbridge with the given ID
Parameters:
| Name | Type | Description |
|---|---|---|
options |
possible keys include: * url (optional) - (can be specified later with `connect`) the WebSocket URL for rosbridge or the node server url to connect using socket.io (if socket.io exists in the page) * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true) |
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Methods
authenticate(mac, client, dest, rand, t, level, end)
Sends an authorization request to the server.
Parameters:
| Name | Type | Description |
|---|---|---|
mac |
MAC (hash) string given by the trusted source. | |
client |
IP of the client. | |
dest |
IP of the destination. | |
rand |
Random string given by the trusted source. | |
t |
Time of the authorization request. | |
level |
User level as a string given by the client. | |
end |
End time of the client's session. |
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callOnConnection()
Sends the message over the WebSocket, but queues the message up if not yet
connected.
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close()
Disconnect from the WebSocket server.
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connect(url)
Connect to the specified WebSocket.
Parameters:
| Name | Type | Description |
|---|---|---|
url |
WebSocket URL for Rosbridge |
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decodeTypeDefs(defs)
Decode a typedefs into a dictionary like `rosmsg show foo/bar`
Parameters:
| Name | Type | Description |
|---|---|---|
defs |
array of type_def dictionary |
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getMessageDetails(callback, message)
Retrieves a detail of ROS message.
Parameters:
| Name | Type | Description |
|---|---|---|
callback |
function with params: * details - Array of the message detail | |
message |
String of a topic type |
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getNodes(callback)
Retrieves list of active node names in ROS.
Parameters:
| Name | Type | Description |
|---|---|---|
callback |
function with the following params: * nodes - array of node names |
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getParams(callback)
Retrieves list of param names from the ROS Parameter Server.
Parameters:
| Name | Type | Description |
|---|---|---|
callback |
function with params: * params - array of param names. |
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getServices(callback)
Retrieves list of active service names in ROS.
Parameters:
| Name | Type | Description |
|---|---|---|
callback |
function with the following params: * services - array of service names |
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getTopics(callback)
Retrieves list of topics in ROS as an array.
Parameters:
| Name | Type | Description |
|---|---|---|
callback |
function with params: * topics - Array of topic names |
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getTopicType(callback)
Retrieves a type of ROS topic.
Parameters:
| Name | Type | Description |
|---|---|---|
callback |
function with params: * type - String of the topic type |
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