rosnodejs/src/examples/turtle.js at 7c212999ecdf3e31adacff06db147363435a3489 · RethinkRobotics-opensource/rosnodejs · GitHub

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/**
    An example of using rosnodejs with turtlesim, incl. services,
    pub/sub, and actionlib. This example uses the on-demand generated
    messages.
 */

"use strict";

let rosnodejs = require("../index.js");
rosnodejs.initNode("/my_node", { onTheFly: true }).then((rosNode) => {
  // get list of existing publishers, subscribers, and services
  rosNode._node._primaryApi.getSystemState("/my_node").then((data) => {
    console.log("getSystemState, result", data, data.publishers[0]);
  });

  // ---------------------------------------------------------
  // Service Call

  const TeleportRelative = rosnodejs.require("turtlesim").srv.TeleportRelative;
  const teleport_request = new TeleportRelative.Request({
    linear: -1,
    angular: 0.0,
  });

  let serviceClient = rosNode.serviceClient(
    "/turtle1/teleport_relative",
    "turtlesim/TeleportRelative"
  );

  rosNode.waitForService(serviceClient.getService(), 2000).then((available) => {
    if (available) {
      serviceClient.call(teleport_request, (resp) => {
        console.log("Service response " + JSON.stringify(resp));
      });
    } else {
      console.log("Service not available");
    }
  });

  // ---------------------------------------------------------
  // Subscribe
  rosNode.subscribe(
    "/turtle1/pose",
    "turtlesim/Pose",
    (data) => {
      console.log("pose", data);
    },
    { queueSize: 1, throttleMs: 1000 }
  );

  // ---------------------------------------------------------
  // Publish
  // equivalent to:
  //   rostopic pub /turtle1/cmd_vel geometry_msgs/Twist '[1, 0, 0]' '[0, 0, 0]'
  let cmd_vel = rosNode.advertise("/turtle1/cmd_vel", "geometry_msgs/Twist", {
    queueSize: 1,
    latching: true,
    throttleMs: 9,
  });

  const Twist = rosnodejs.require("geometry_msgs").msg.Twist;
  const msgTwist = new Twist({
    linear: { x: 1, y: 0, z: 0 },
    angular: { x: 0, y: 0, z: 1 },
  });
  cmd_vel.publish(msgTwist);

  // ---------------------------------------------------------
  // test actionlib
  // rosrun turtlesim turtlesim_node
  // rosrun turtle_actionlib shape_server

  // wait two seconds for previous example to complete
  setTimeout(function () {
    const shapeActionGoal = rosnodejs.require("turtle_actionlib").msg
      .ShapeActionGoal;
    const ac = rosnodejs.nh.actionClient(
      "/turtle_shape",
      "turtle_actionlib/Shape"
    );
    ac.sendGoal(
      new shapeActionGoal({
        goal: {
          edges: 3,
          radius: 1,
        },
      })
    );
    setTimeout(function () {
      ac.cancel();
    }, 1000);
  }, 2000);

  // ---------------------------------------------------------
  // test int64 + uint64

  rosNode.subscribe(
    "/int64",
    "std_msgs/Int64",
    (data) => {
      console.log("int64", data);
    },
    { queueSize: 1, throttleMs: 1000 }
  );

  let int64pub = rosNode.advertise("/int64", "std_msgs/Int64", {
    queueSize: 1,
    latching: true,
    throttleMs: 9,
  });
  const Int64 = rosnodejs.require("std_msgs").msg.Int64;
  int64pub.publish(new Int64({ data: "429496729456789012" }));

  rosNode.subscribe(
    "/uint64",
    "std_msgs/UInt64",
    (data) => {
      console.log("uint64", data);
    },
    { queueSize: 1, throttleMs: 1000 }
  );

  let uint64pub = rosNode.advertise("/uint64", "std_msgs/UInt64", {
    queueSize: 1,
    latching: true,
    throttleMs: 9,
  });
  const UInt64 = rosnodejs.require("std_msgs").msg.UInt64;
  uint64pub.publish(new UInt64({ data: "9223372036854775807" }));
});