Integrates ros_msg_utils & adds basic Time (#48)

* Move source code into src/
* Move ros_msg_utils into rosnodejs
* Move to bn.js for 64bit integers
* add basic Time interface (for sim time)
* Fix message definition for ros bags
* Small fix to pub, sub errors
* Add ability to namespace through nodehandles
* Added a brief description to the readme on how to run the
  turtlesim example.

Author: chris-smith

.gitignore

@@ -31,3 +31,6 @@ node_modules
 
 # Optional REPL history
 .node_repl_history
+
+# ignore the build repo
+dist/

README.md

@@ -1 +1,24 @@
 # rosnodejs [![Build Status](https://travis-ci.org/RethinkRobotics-opensource/rosnodejs.svg)](https://travis-ci.org/RethinkRobotics-opensource/rosnodejs)
+
+
+## Run the turtlesim example
+
+Start:
+
+```
+roscore
+rosrun turtlesim turtlesim_node
+rosrun turtle_actionlib shape_server
+```
+
+Then run
+```
+node src/examples/turtle.js
+```
+
+or, if you are running an older version of node:
+
+```
+npm run compile
+node dist/examples/turtle.js
+```

package.json

@@ -8,11 +8,11 @@
   ],
   "scripts": {
     "test": "mocha test/directory.js",
-    "gennodejsTest": "mocha test/gennodejsTest.js",
+    "gennodejsTest": "mocha test/gennodejsTest.js test/onTheFlyMessages.js",
     "stressTest": "mocha test/stress.js",
     "flatten": "node tools/flatten.js",
-    "generate": "node tools/generateMessages.js",
-    "compile": "babel --presets es2015 index.js -d dist/ && for dir in utils utils/messageGeneration utils/log lib tools test examples; do babel --presets es2015 $dir -d dist/$dir; done",
+    "generate": "node dist/tools/generateMessages.js",
+    "compile": "babel --presets es2015 src/ -d dist/",
     "prepublish": "npm run compile"
   },
   "author": "chris smith",
@@ -30,10 +30,10 @@
   "dependencies": {
     "argparse": "1.0.7",
     "async": "2.0.1",
+    "bn.js": "^4.11.6",
     "bunyan": "1.8.1",
     "md5": "2.1.0",
     "moment": "2.12.0",
-    "ros_msg_utils": "1.0.2",
     "walker": "1.0.7",
     "xmlrpc": "chfritz/node-xmlrpc"
   }

examples/on_the_fly.js src/examples/on_the_fly.jsexamples/on_the_fly.js renamed to src/examples/on_the_fly.js

@@ -58,7 +58,7 @@ rosnodejs.initNode('/test_node')
   let iter = 0;
   const msg = new std_msgs.String();
   setInterval(() => {
-    msg.data = msgStart + iter
+    msg.data = msgStart + iter;
     pub.publish(msg);
     ++iter;
     if (iter > 200) {

examples/standard.js src/examples/standard.jsexamples/standard.js renamed to src/examples/standard.js

@@ -6,7 +6,7 @@
 
 'use strict';
 
-let rosnodejs = require('./index.js');
+let rosnodejs = require('../index.js');
 rosnodejs.initNode('/my_node', {onTheFly: true}).then((rosNode) => {
 
   // get list of existing publishers, subscribers, and services
@@ -75,10 +75,10 @@ rosnodejs.initNode('/my_node', {onTheFly: true}).then((rosNode) => {
   // wait two seconds for previous example to complete
   setTimeout(function() {
       let shapeActionGoal = rosnodejs.require('turtle_actionlib').msg.ShapeActionGoal;
-      let ac = nh.actionClient({
-          type: "turtle_actionlib/ShapeAction",
-          actionServer: "/turtle_shape"
-        });
+      let ac = rosnodejs.nh.actionClient(
+        "/turtle_shape",
+        "turtle_actionlib/ShapeAction"
+      );
       ac.sendGoal(new shapeActionGoal({
             goal: {
               edges: 3,

examples/turtle.js src/examples/turtle.jsexamples/turtle.js renamed to src/examples/turtle.js

@@ -30,14 +30,11 @@ const RosNode = require('./lib/RosNode.js');
 const NodeHandle = require('./lib/NodeHandle.js');
 const Logging = require('./lib/Logging.js');
 const ActionClient = require('./lib/ActionClient.js');
+const Time = require('./lib/Time.js');
+const packages = require('./utils/messageGeneration/packages.js');
 
 const MsgLoader = require('./utils/messageGeneration/MessageLoader.js');
 
-// these will be modules, they depend on logger which isn't initialized yet
-// though so they'll be required later (in initNode)
-// let RosNode = null;
-// let NodeHandle = null;
-
 // will be initialized through call to initNode
 let log = Logging.getLogger();
 let rosNode = null;
@@ -142,6 +139,7 @@ let Rosnodejs = {
     return this._loadOnTheFlyMessages(options)
       .then(_checkMasterHelper)
       .then(Logging.initializeRosOptions.bind(Logging, this, options.logging))
+      .then(Time._initializeRosTime.bind(Time, this))
       .then(() => { return this.getNodeHandle(); })
       .catch((err) => {
         log.error('Error: ' + err);
@@ -152,11 +150,13 @@ let Rosnodejs = {
     rosNode = null;
   },
 
+  shutdown() {
+    return rosNode.shutdown();
+  },
+
   _loadOnTheFlyMessages({onTheFly}) {
     if (onTheFly) {
-      return new Promise((resolve, reject) => {
-        messages.getAll(resolve);
-      });
+      return messages.getAll();
     }
     // else
     return Promise.resolve();
@@ -187,10 +187,26 @@ let Rosnodejs = {
       })
   },
 
+  findPackage(packageName) {
+    return new Promise((resolve, reject) => {
+      packages.findPackage(packageName, (err, dir) => {
+        if (err) {
+          reject(err);
+        }
+        // else
+        resolve(dir);
+      });
+    });
+  },
+
   require(msgPackage) {
     return msgUtils.requireMsgPackage(msgPackage);
   },
 
+  getAvailableMessagePackages() {
+    return msgUtils.getAvailableMessagePackages();
+  },
+
   /** check that a message definition is loaded for a ros message
       type, e.g., geometry_msgs/Twist */
   checkMessage(type) {
@@ -216,8 +232,8 @@ let Rosnodejs = {
   /**
    * @return {NodeHandle} for initialized node
    */
-  getNodeHandle() {
-    return new NodeHandle(rosNode);
+  getNodeHandle(namespace) {
+    return new NodeHandle(rosNode, namespace);
   },
 
   get nodeHandle() {
@@ -239,6 +255,9 @@ let Rosnodejs = {
     }
   },
 
+  get Time() {
+    return Time;
+  },
 
   //------------------------------------------------------------------
   // ActionLib