roslib
Version:
The standard ROS Javascript Library
76 lines (63 loc) • 2.03 kB
HTML
<html>
<head>
<meta charset="utf-8" />
<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="../build/roslib.js"></script>
<script>
// Connecting to ROS
// -----------------
var ros = new ROSLIB.Ros({
url : 'ws://localhost:9090'
});
// If there is an error on the backend, an 'error' emit will be emitted.
ros.on('error', function(error) {
console.log(error);
});
// The ActionServer
// ----------------
this.fibonacciServer = new ROSLIB.SimpleActionServer({
ros : ros,
serverName : '/fibonacci',
actionName : 'actionlib_tutorials/FibonacciAction'
});
this.canceled = false;
var that=this;
//handle fibonacci action request.
this.fibonacciServer.on('goal', function(goalMessage) {
console.log(goalMessage);
fibonacciSequence = [];
fibonacciSequence.push(0);
fibonacciSequence.push(1);
for (var i = 1; i < goalMessage.order; i++ ) {
fibonacciSequence.push( fibonacciSequence[i] + fibonacciSequence[i-1] );
if (that.canceled === true ) {
console.log("Action server preempted");
that.fibonacciServer.setPreempted();
}
console.log(fibonacciSequence);
//send feedback
var feedback = { sequence: fibonacciSequence };
that.fibonacciServer.sendFeedback(fibonacciSequence);
}
//send result
var result = { sequence: fibonacciSequence};
that.fibonacciServer.setSucceeded(result);
});
this.fibonacciServer.on('cancel', function(goalMessage){
that.canceled = true;
});
</script>
</head>
<body>
<h1>Fibonacci ActionClient Example</h1>
<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
console for the output.</p>
<ol>
<li><tt>roscore</tt></li>
<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
<li><tt>refresh this page</tt></li>
<li><tt>rosrun actionlib_tutorials fibonacci_client</tt></li>
</ol>
</body>
</html>