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Make examples runnable from package.json
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‎README.md‎

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## The Standard ROS JavaScript Library
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For full documentation see the [ROS wiki](http://wiki.ros.org/roslibjs).
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[JSDoc](https://robotwebtools.github.io/roslibjs) can be found on the Robot Web Tools website.
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This project is released as part of the [Robot Web Tools](https://robotwebtools.github.io/) effort.
@@ -21,8 +19,7 @@ npm install roslib
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## Troubleshooting
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1. Check that connection is established. You can listen to error and
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connection events to report them to console. See
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examples/simple.html for a complete example:
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connection events to report them to console.
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```js
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ros.on("error", function (error) {
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});
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```
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Try running `npm run examples` for some complete examples!
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2. Check that you have the websocket server is running on
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port 9090. Something like this should do:
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‎examples/action_client.html‎

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<!DOCTYPE html>
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<!doctype html>
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<html>
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<head>
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<meta charset="utf-8" />
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<script src="https://unpkg.com/eventemitter3@latest/dist/eventemitter3.umd.min.js"></script>
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<script src="../dist/RosLib.umd.cjs"></script>
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<head>
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<meta charset="utf-8" />
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<script src="../importmap.js"></script>
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<script>
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// Connecting to ROS
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// -----------------
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var ros = new ROSLIB.Ros({
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url : 'ws://localhost:9090'
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});
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<script type="module">
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import * as ROSLIB from "roslib";
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// Connecting to ROS
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// -----------------
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var ros = new ROSLIB.Ros({
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url: "ws://localhost:9090",
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});
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// If there is an error on the backend, an 'error' emit will be emitted.
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ros.on('error', function(error) {
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document.getElementById('connecting').style.display = 'none';
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document.getElementById('connected').style.display = 'none';
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document.getElementById('closed').style.display = 'none';
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document.getElementById('error').style.display = 'inline';
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console.log(error);
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});
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// If there is an error on the backend, an 'error' emit will be emitted.
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ros.on("error", function (error) {
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document.getElementById("connecting").style.display = "none";
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document.getElementById("connected").style.display = "none";
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document.getElementById("closed").style.display = "none";
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document.getElementById("error").style.display = "inline";
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console.log(error);
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});
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// Find out exactly when we made a connection.
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ros.on('connection', function() {
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console.log('Connection made!');
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document.getElementById('connecting').style.display = 'none';
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document.getElementById('error').style.display = 'none';
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document.getElementById('closed').style.display = 'none';
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document.getElementById('connected').style.display = 'inline';
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});
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// Find out exactly when we made a connection.
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ros.on("connection", function () {
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console.log("Connection made!");
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document.getElementById("connecting").style.display = "none";
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document.getElementById("error").style.display = "none";
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document.getElementById("closed").style.display = "none";
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document.getElementById("connected").style.display = "inline";
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});
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ros.on('close', function() {
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console.log('Connection closed.');
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document.getElementById('connecting').style.display = 'none';
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document.getElementById('connected').style.display = 'none';
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document.getElementById('closed').style.display = 'inline';
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});
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ros.on("close", function () {
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console.log("Connection closed.");
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document.getElementById("connecting").style.display = "none";
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document.getElementById("connected").style.display = "none";
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document.getElementById("closed").style.display = "inline";
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});
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// The ActionClient
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// ----------------
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// The ActionClient
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// ----------------
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var fibonacciClient = new ROSLIB.ActionClient({
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ros : ros,
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serverName : '/fibonacci',
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actionName : 'actionlib_tutorials/FibonacciAction'
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});
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var fibonacciClient = new ROSLIB.ActionClient({
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ros: ros,
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serverName: "/fibonacci",
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actionName: "actionlib_tutorials/FibonacciAction",
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});
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// Create a goal.
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var goal = new ROSLIB.Goal({
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actionClient : fibonacciClient,
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goalMessage : {
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order : 7
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}
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});
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// Create a goal.
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var goal = new ROSLIB.Goal({
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actionClient: fibonacciClient,
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goalMessage: {
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order: 7,
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},
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});
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// Print out their output into the terminal.
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goal.on('feedback', function(feedback) {
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console.log('Feedback: ' + feedback.sequence);
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});
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goal.on('result', function(result) {
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console.log('Final Result: ' + result.sequence);
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});
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// Print out their output into the terminal.
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goal.on("feedback", function (feedback) {
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console.log("Feedback: " + feedback.sequence);
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});
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goal.on("result", function (result) {
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console.log("Final Result: " + result.sequence);
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});
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// Send the goal to the action server.
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goal.send();
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</script>
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</head>
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// Send the goal to the action server.
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goal.send();
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</script>
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</head>
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<body>
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<h1>Fibonacci ActionClient Example</h1>
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<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
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console for the output.</p>
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<ol>
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<li><tt>roscore</tt></li>
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<li><tt>rosrun actionlib_tutorials fibonacci_server</tt></li>
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<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
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</ol>
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<div id="statusIndicator">
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<p id="connecting">
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Connecting to rosbridge...
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<body>
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<h1>Fibonacci ActionClient Example</h1>
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<p>
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Run the following commands in the terminal then refresh this page. Check
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the JavaScript console for the output.
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</p>
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<p id="connected" style="color:#00D600; display:none">
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Connected
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</p>
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<p id="error" style="color:#FF0000; display:none">
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Error in the backend!
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</p>
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<p id="closed" style="display:none">
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Connection closed.
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</p>
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</div>
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</body>
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<ol>
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<li><tt>roscore</tt></li>
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<li><tt>rosrun actionlib_tutorials fibonacci_server</tt></li>
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<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
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</ol>
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<div id="statusIndicator">
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<p id="connecting">Connecting to rosbridge...</p>
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<p id="connected" style="color: #00d600; display: none">Connected</p>
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<p id="error" style="color: #ff0000; display: none">
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Error in the backend!
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</p>
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<p id="closed" style="display: none">Connection closed.</p>
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</div>
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</body>
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</html>

‎examples/action_server.html‎

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<!DOCTYPE html>
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<!doctype html>
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<html>
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<head>
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<meta charset="utf-8" />
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<script src="https://unpkg.com/eventemitter3@latest/dist/eventemitter3.umd.min.js"></script>
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<script src="../dist/RosLib.umd.cjs"></script>
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<head>
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<meta charset="utf-8" />
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<script src="../importmap.js"></script>
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<script>
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// Connecting to ROS
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// -----------------
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var ros = new ROSLIB.Ros({
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url : 'ws://localhost:9090'
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});
7+
<script type="module">
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import * as ROSLIB from "roslib";
9+
// Connecting to ROS
10+
// -----------------
11+
var ros = new ROSLIB.Ros({
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url: "ws://localhost:9090",
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});
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// If there is an error on the backend, an 'error' emit will be emitted.
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ros.on('error', function(error) {
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console.log(error);
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});
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// If there is an error on the backend, an 'error' emit will be emitted.
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ros.on("error", function (error) {
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console.log(error);
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});
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20-
// The ActionServer
21-
// ----------------
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// The ActionServer
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// ----------------
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this.fibonacciServer = new ROSLIB.SimpleActionServer({
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ros : ros,
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serverName : '/fibonacci',
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actionName : 'actionlib_tutorials/FibonacciAction'
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});
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const fibonacciServer = new ROSLIB.SimpleActionServer({
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ros: ros,
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serverName: "/fibonacci",
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actionName: "actionlib_tutorials/FibonacciAction",
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});
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29-
this.canceled = false;
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var that=this;
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var canceled = false;
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//handle fibonacci action request.
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this.fibonacciServer.on('goal', function(goalMessage) {
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console.log(goalMessage);
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fibonacciSequence = [];
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fibonacciSequence.push(0);
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fibonacciSequence.push(1);
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//handle fibonacci action request.
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fibonacciServer.on("goal", function (goalMessage) {
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console.log(goalMessage);
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fibonacciSequence = [];
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fibonacciSequence.push(0);
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fibonacciSequence.push(1);
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39-
for (var i = 1; i < goalMessage.order; i++ ) {
40-
fibonacciSequence.push( fibonacciSequence[i] + fibonacciSequence[i-1] );
38+
for (var i = 1; i < goalMessage.order; i++) {
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fibonacciSequence.push(
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fibonacciSequence[i] + fibonacciSequence[i - 1],
41+
);
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42-
if (that.canceled === true ) {
43-
console.log("Action server preempted");
43+
if (canceled === true) {
44+
console.log("Action server preempted");
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45-
that.fibonacciServer.setPreempted();
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}
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console.log(fibonacciSequence);
48-
//send feedback
49-
var feedback = { sequence: fibonacciSequence };
50-
that.fibonacciServer.sendFeedback(fibonacciSequence);
51-
}
46+
fibonacciServer.setPreempted();
47+
}
48+
console.log(fibonacciSequence);
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//send feedback
50+
var feedback = { sequence: fibonacciSequence };
51+
fibonacciServer.sendFeedback(fibonacciSequence);
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}
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53-
//send result
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var result = { sequence: fibonacciSequence};
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that.fibonacciServer.setSucceeded(result);
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});
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//send result
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var result = { sequence: fibonacciSequence };
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fibonacciServer.setSucceeded(result);
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});
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58-
this.fibonacciServer.on('cancel', function(goalMessage){
59-
that.canceled = true;
60-
});
61-
</script>
62-
</head>
59+
fibonacciServer.on("cancel", function (goalMessage) {
60+
canceled = true;
61+
});
62+
</script>
63+
</head>
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64-
<body>
65-
<h1>Fibonacci ActionClient Example</h1>
66-
<p>Run the following commands in the terminal then refresh this page. Check the JavaScript
67-
console for the output.</p>
68-
<ol>
69-
<li><tt>roscore</tt></li>
70-
<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
71-
<li><tt>refresh this page</tt></li>
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<li><tt>rosrun actionlib_tutorials fibonacci_client</tt></li>
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</ol>
74-
</body>
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<body>
66+
<h1>Fibonacci ActionClient Example</h1>
67+
<p>
68+
Run the following commands in the terminal then refresh this page. Check
69+
the JavaScript console for the output.
70+
</p>
71+
<ol>
72+
<li><tt>roscore</tt></li>
73+
<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
74+
<li><tt>refresh this page</tt></li>
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<li><tt>rosrun actionlib_tutorials fibonacci_client</tt></li>
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</ol>
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</body>
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</html>

‎examples/index.html‎

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<body>
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<ul>
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<li>
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<a href="./action_client.html">ROS 1 Action Client</a>
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</li>
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<li>
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<a href="./action_server.html">ROS 1 Action Server</a>
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</li>
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<li>
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<a href="./math.html">Math Examples</a>
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</li>
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<li>
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<a href="./ros2_action_client.html">ROS 2 Action Client</a>
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</li>
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<li>
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<a href="./ros2_action_server.html">ROS 2 Action Server</a>
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</li>
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<li>
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<a href="./ros2_simple.html">Full ROS 2 Example</a>
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</li>
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<li>
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<a href="./simple.html">Full ROS 1 Example</a>
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</li>
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<li>
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<a href="./tf.html">ROS 1 TF Example</a>
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</li>
27+
<li>
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<a href="./urdf.html">URDF Example</a>
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</li>
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</ul>
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</body>

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