robotics-dev/examples/connect-stream-ros.js

Robotics.dev P2P SDK client for robot control

const robotics = require('../index.js');
// const robotics = require('robotics-dev');

var robotId = '532f2c9f-df66-4d13-b62d-c872703e5448';

// Connect to robotics.dev
robotics.connect({
    server: 'ws://192.168.0.145:3001',
    robot: robotId,
    token: '5a66b323-b464-4d50-9169-77a95014f339'
}, (rosMessage) => {
    // Debug log all received messages
    // console.log('Received message:', JSON.stringify(rosMessage, null, 2));
    
    // rosMessage is already parsed and decompressed by the SDK
    if (rosMessage.topic) {
        console.log('ROS Topic:', rosMessage.topic);
    }

    // Handle 2d camera messages
    if (rosMessage.topic === '/camera2d') {
        // console.log("Base64 image: ", rosMessage.data.data);
        console.log("Base64 image: ", rosMessage.base64Image);
    }

    // Handle 3d realsense camera messages
    if (rosMessage.topic === '/camera/camera/color/image_raw/compressed') {
        console.log("Base64 image: ", rosMessage.base64Image);
    }
});

// Handle process termination
process.on('SIGINT', () => {
    console.log('Disconnecting...');
    robotics.disconnect();
    process.exit();
});