├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── package.json ├── package.xml └── scripts ├── listener.js └── talker.js /.gitignore: -------------------------------------------------------------------------------- 1 | npm-debug.log 2 | node_modules/ 3 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(rosnodejs_examples) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | ################################### 7 | ## catkin specific configuration ## 8 | ################################### 9 | catkin_package() 10 | 11 | ############# 12 | ## Install ## 13 | ############# 14 | 15 | install(PROGRAMS 16 | scripts/talker.js 17 | scripts/listener.js 18 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 19 | ) 20 | 21 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright (c) 2017, Ian McMahon 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # rosnodejs examples 2 | 3 | ## Install and Build 4 | 5 | Prerequisites: 6 | - [Install ROS Kinetic or Lunar](http://wiki.ros.org/kinetic/Installation/Ubuntu) 7 | - [Install `nodejs` and the `npm` package manager, with `nodejs` version 6.x or 7.x recommended] 8 | (https://nodejs.org/en/download/package-manager/) 9 | 10 | To get started the "catkin" way: 11 | ``` 12 | $ mkdir -p ~/rosnodejs_ws/src 13 | $ cd ~/rosnodejs_ws/src 14 | $ git clone https://github.com/RethinkRobotics-opensource/rosnodejs_examples.git 15 | $ cd rosnodejs_examples 16 | $ npm install 17 | $ cd ~/rosnodejs_ws 18 | $ source /opt/ros/kinetic/setup.bash 19 | $ catkin build 20 | ``` 21 | 22 | ## Running Talker / Listener 23 | To run the programs, open three terminal windows (for illustration purposes). 24 | ### Window 1: typical ROS Master 25 | 26 | Source environment varables (only needed once per terminal window) 27 | `$ source ~/rosnodejs_ws/devel/setup.bash` 28 | Start ROS Master 29 | `$ roscore` 30 | 31 | ### Window 2: talker.js script 32 | 33 | Source environment varables (only needed once per terminal window) 34 | `$ source ~/rosnodejs_ws/devel/setup.bash` 35 | Start the Talker Script 36 | `$ rosrun rosnodejs_examples talker.js` 37 | 38 | You should see output like the following: 39 | ``` 40 | [INFO] [1487773766.635] (ros): I said: [hello world 10] 41 | [INFO] [1487773766.735] (ros): I said: [hello world 11] 42 | [INFO] [1487773766.835] (ros): I said: [hello world 12] 43 | ``` 44 | 45 | ### Window 3: listener.js script 46 | 47 | Source environment varables (only needed once per terminal window) 48 | `$ source ~/rosnodejs_ws/devel/setup.bash` 49 | Start the Listener Script 50 | `$ rosrun rosnodejs_examples listener.js` 51 | 52 | You should see echoed output like the following: 53 | ``` 54 | [INFO] [1487773766.644] (ros): I heard: [hello world 10] 55 | [INFO] [1487773766.743] (ros): I heard: [hello world 11] 56 | [INFO] [1487773766.845] (ros): I heard: [hello world 12] 57 | ``` 58 | 59 | Congratulations! You've just published and subscribed over ROS using Javascript! 60 | -------------------------------------------------------------------------------- /package.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "rosnodejs_examples", 3 | "version": "0.0.0", 4 | "description": "Example programs for ROS Node Javascript client library", 5 | "keywords": [ 6 | "ros" 7 | ], 8 | "scripts": { 9 | "talker": "node scripts/talker.js", 10 | "listener": "node scripts/listener.js" 11 | }, 12 | "author": "Ian McMahon", 13 | "license": "Apache-2.0", 14 | "repository": { 15 | "type": "git", 16 | "url": "git://github.com/RethinkRobotics-opensource/rosnodejs_examples" 17 | }, 18 | "dependencies": { 19 | "rosnodejs": "2.1.1" 20 | } 21 | } 22 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | rosnodejs_examples 4 | 0.0.0 5 | The rosnodejs_examples package 6 | 7 | Ian McMahon 8 | Apache 2.0 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | Ian McMahon 17 | catkin 18 | std_msgs 19 | 20 | 21 | -------------------------------------------------------------------------------- /scripts/listener.js: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env node 2 | 3 | /************************************************************************ 4 | Copyright (c) 2017, Rethink Robotics 5 | Copyright (c) 2017, Ian McMahon 6 | 7 | Licensed under the Apache License, Version 2.0 (the "License"); 8 | you may not use this file except in compliance with the License. 9 | You may obtain a copy of the License at 10 | 11 | http://www.apache.org/licenses/LICENSE-2.0 12 | 13 | Unless required by applicable law or agreed to in writing, software 14 | distributed under the License is distributed on an "AS IS" BASIS, 15 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 16 | See the License for the specific language governing permissions and 17 | limitations under the License. 18 | ************************************************************************/ 19 | 20 | 'use strict'; 21 | /** 22 | * This example demonstrates simple receiving of messages over the ROS system. 23 | */ 24 | 25 | // Require rosnodejs itself 26 | const rosnodejs = require('rosnodejs'); 27 | // Requires the std_msgs message package 28 | const std_msgs = rosnodejs.require('std_msgs').msg; 29 | 30 | function listener() { 31 | // Register node with ROS master 32 | rosnodejs.initNode('/listener_node') 33 | .then((rosNode) => { 34 | // Create ROS subscriber on the 'chatter' topic expecting String messages 35 | let sub = rosNode.subscribe('/chatter', std_msgs.String, 36 | (data) => { // define callback execution 37 | rosnodejs.log.info('I heard: [' + data.data + ']'); 38 | } 39 | ); 40 | }); 41 | } 42 | 43 | if (require.main === module) { 44 | // Invoke Main Listener Function 45 | listener(); 46 | } 47 | -------------------------------------------------------------------------------- /scripts/talker.js: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env node 2 | 3 | /************************************************************************ 4 | Copyright (c) 2017, Rethink Robotics 5 | Copyright (c) 2017, Ian McMahon 6 | 7 | Licensed under the Apache License, Version 2.0 (the "License"); 8 | you may not use this file except in compliance with the License. 9 | You may obtain a copy of the License at 10 | 11 | http://www.apache.org/licenses/LICENSE-2.0 12 | 13 | Unless required by applicable law or agreed to in writing, software 14 | distributed under the License is distributed on an "AS IS" BASIS, 15 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 16 | See the License for the specific language governing permissions and 17 | limitations under the License. 18 | ************************************************************************/ 19 | 20 | 'use strict'; 21 | /** 22 | * This example demonstrates simple sending of messages over the ROS system. 23 | */ 24 | 25 | // Require rosnodejs itself 26 | const rosnodejs = require('rosnodejs'); 27 | // Requires the std_msgs message package 28 | const std_msgs = rosnodejs.require('std_msgs').msg; 29 | 30 | function talker() { 31 | // Register node with ROS master 32 | rosnodejs.initNode('/talker_node') 33 | .then((rosNode) => { 34 | // Create ROS publisher on the 'chatter' topic with String message 35 | let pub = rosNode.advertise('/chatter', std_msgs.String); 36 | let count = 0; 37 | const msg = new std_msgs.String(); 38 | // Define a function to execute every 100ms 39 | setInterval(() => { 40 | // Construct the message 41 | msg.data = 'hello world ' + count; 42 | // Publish over ROS 43 | pub.publish(msg); 44 | // Log through stdout and /rosout 45 | rosnodejs.log.info('I said: [' + msg.data + ']'); 46 | ++count; 47 | }, 100); 48 | }); 49 | } 50 | 51 | if (require.main === module) { 52 | // Invoke Main Talker Function 53 | talker(); 54 | } 55 | --------------------------------------------------------------------------------