RosNg

This project was generated with Angular CLI version 9.1.6. RosNg is a library for an easy integration of ros in angular projects. RosNg contains services to control rostopic, -services, -parameters. In addition, RosNg contains RosTopics and -Services for example to set and get the language of the robot or to start behaviors of a robot. Furthermore, RosNg contains components for an simple use of RosElements.

Build

cd ~
git clone https://github.com/cridito/ros-ng.git
cd ros-ng
npm install
ng build
cp -r ~/ros-ng/dist/ros-ng nodemodule/folder/of/current/projectType

Use in your Project

Import RosNgModule in App Module off your project.

...
import { RosNgModule } from 'ros-ng';

@NgModule({
  ...
  imports: [
    ...
    RosNgModule
  ],
...

Now, you can use the ros-ng module in the following three ways.

Ros-Service, Ros-Topic, Ros-Param

The three services below could use to connect own Topics, Services or Parameter.

...
import { RosParamService } from 'ros-ng';
import { RosTopicService } from 'ros-ng';
import { RosTopicService } from 'ros-ng';
...
  constructor(
    private rosParam: RosParamService,
    private rosTopic: RosTopicService,
    private rosService: RosServiceService
  ...

Ros-Topic Methods

publishTopic(topicName: string, messageType: string, msgObject: Object = null): void
subscribeTopic(topicName: string, messageType: string): Subject<any>

Ros-Service Methods

callService(serviceName: string, serviceType: string, requestObject: Object = null): Subject<any>

Ros-Parameter Methods

getRosParam(paramName: string): Observable<any>
setRosParam(paramName: string, value: any): Observable<any>

Implemented topics and services

Use in ts file of component.

import { SpeechService } from 'ros-ng';
...
@Component({
  ...
  providers: [SpeechService]
  })
export class AppComponent {
  constructor(
    private speech: SpeechService
  ){}
  ...
}

Services

Services	Methods
AnimatedspeechService	stopBehavior(behavior: string, msg: string, cancel: boolean = true): Subject<any> startBehavior(behavior: string, msg: string, cancel: boolean = false): Subject<any>
GetLanguageService	getLanguage(): Subject
SetLanguageService	setLanguage(language: string): Subject
GetVolumneService	getVolumne(): Subject
SetVolumneService	setVolumne(volumne: number): Subject
RestService	rest(): Subject
WakeupService	wakeUp(): Subject
TabletLoadPageService	loadPage(url: string): Subject
TabletOnService	displayOn(): Subject
TabletOffService	displayOff(): Subject

Topics

Topics	Methods
BehaviorStatusService	getBehaviorStatus(): Subject
BehaviorService	startBehavior(behavior: string): void
ClientCountService	getClientCount(): Subject
ClientService	getClients(): Subject
ShoreService	getShoreData(): Subject
SpeechService	say(msg: string): void getSpeechData(): Subject

Implemented components

Use in html file of component.

<lib-speech-dropdown label='Robot Say' buttonlabel='Say' [options]="['Hello','World']"></lib-speech-dropdown>
<lib-speech-input></lib-speech-input>

Component	Selector	Parameter
SpeechDropdownComponent	lib-speech-dropdown	label: string buttonlabel: string options: string[]
SpeechInputComponent	lib-speech-input	label: string buttonlabel: string