web 端使用ros通信-订阅发布以及服务请求

web 端使用ros通信-订阅发布以及服务请求

发布话题 publish 发布取放货操作

//一键取放货
const pickGoodsPublish = new ROSLIB.Topic({
    ros: ros,
    name: '/pick_drop_goods',
    messageType: 'geometry_msgs/Goods'
});

const goodsMessage = new ROSLIB.Message({
    control:0 //0-不操作,1-取货，2-放货 ....
})

function setGoodsMessage(value) {
    goodsMessage.control = value
    pickGoodsPublish.publish(goodsMessage)
}

订阅话题 subscribe 订阅机器人的实时位置

var sub_goalpose = null;
var goal_marker = null;

goal_marker = new createjs.Shape();
goal_marker.graphics.beginFill(createjs.Graphics.getRGB(255, 0, 0, 0.66));
goal_marker.graphics.drawCircle(0, 0, 5);


function subGoalPoseCallback(pose) {
    goal_marker.x = pose.x;
    goal_marker.y = -pose.y;
    goal_marker.scaleX = 1.0 / handle_stage.scaleX;
    goal_marker.scaleY = 1.0 / handle_stage.scaleY;
    handle_stage.addChild(goal_marker);
}

 sub_goalpose = new ROSLIB.Topic({
        ros: ros,
        name: '/goal_pose',
        messageType: 'geometry_msgs/Pose2D',
        throttle_rate: 100
    });
    sub_goalpose.subscribe(subGoalPoseCallback);

服务请求 ServiceRequest

var clt_map_create = new ROSLIB.Service({
                                         ros : ros,
                                         name : '/map_create_srv',
                                         serviceType: 'api_srvs/MapCreate'
                                     });

var requset_map_create = new ROSLIB.ServiceRequest({
                                            cmd : {
                                                func_type : FUNC_TYPE_CREATE_MAP,
                                                map_name : '',
                                                map_path : '',
                                            }
                                        });

function MapCreateServiceCall(value) {

    switch (value) {
    case FUNC_TYPE_CREATE_MAP:
    {
        requset_map_create.cmd.func_type = FUNC_TYPE_CREATE_MAP;
        clt_map_create.callService(requset_map_create, function(result) {
            console.info('Result for service call on' + clt_map_create.name + ': ' + result.ret);
        });
        break;
    }
}
}