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replace slave/master with primary/assistant #152

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144 changes: 72 additions & 72 deletions src/examples/turtle.js
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Original file line number Diff line number Diff line change
Expand Up @@ -4,127 +4,127 @@
messages.
*/

'use strict';

let rosnodejs = require('../index.js');
rosnodejs.initNode('/my_node', {onTheFly: true}).then((rosNode) => {
"use strict";

let rosnodejs = require("../index.js");
rosnodejs.initNode("/my_node", { onTheFly: true }).then((rosNode) => {
// get list of existing publishers, subscribers, and services
rosNode._node._masterApi.getSystemState("/my_node").then((data) => {
rosNode._node._primaryApi.getSystemState("/my_node").then((data) => {
console.log("getSystemState, result", data, data.publishers[0]);
});

// ---------------------------------------------------------
// Service Call

const TeleportRelative = rosnodejs.require('turtlesim').srv.TeleportRelative;
const TeleportRelative = rosnodejs.require("turtlesim").srv.TeleportRelative;
const teleport_request = new TeleportRelative.Request({
linear: -1,
angular: 0.0
angular: 0.0,
});

let serviceClient = rosNode.serviceClient("/turtle1/teleport_relative",
"turtlesim/TeleportRelative");

rosNode.waitForService(serviceClient.getService(), 2000)
.then((available) => {
if (available) {
serviceClient.call(teleport_request, (resp) => {
console.log('Service response ' + JSON.stringify(resp));
});
} else {
console.log('Service not available');
}
});

let serviceClient = rosNode.serviceClient(
"/turtle1/teleport_relative",
"turtlesim/TeleportRelative"
);

rosNode.waitForService(serviceClient.getService(), 2000).then((available) => {
if (available) {
serviceClient.call(teleport_request, (resp) => {
console.log("Service response " + JSON.stringify(resp));
});
} else {
console.log("Service not available");
}
});

// ---------------------------------------------------------
// Subscribe
rosNode.subscribe(
'/turtle1/pose',
'turtlesim/Pose',
"/turtle1/pose",
"turtlesim/Pose",
(data) => {
console.log('pose', data);
console.log("pose", data);
},
{queueSize: 1,
throttleMs: 1000});
{ queueSize: 1, throttleMs: 1000 }
);

// ---------------------------------------------------------
// Publish
// equivalent to:
// rostopic pub /turtle1/cmd_vel geometry_msgs/Twist '[1, 0, 0]' '[0, 0, 0]'
let cmd_vel = rosNode.advertise('/turtle1/cmd_vel','geometry_msgs/Twist', {
let cmd_vel = rosNode.advertise("/turtle1/cmd_vel", "geometry_msgs/Twist", {
queueSize: 1,
latching: true,
throttleMs: 9
throttleMs: 9,
});

const Twist = rosnodejs.require('geometry_msgs').msg.Twist;
const Twist = rosnodejs.require("geometry_msgs").msg.Twist;
const msgTwist = new Twist({
linear: { x: 1, y: 0, z: 0 },
angular: { x: 0, y: 0, z: 1 }
angular: { x: 0, y: 0, z: 1 },
});
cmd_vel.publish(msgTwist);


// ---------------------------------------------------------
// test actionlib
// rosrun turtlesim turtlesim_node
// rosrun turtle_actionlib shape_server

// wait two seconds for previous example to complete
setTimeout(function() {
const shapeActionGoal = rosnodejs.require('turtle_actionlib').msg.ShapeActionGoal;
const ac = rosnodejs.nh.actionClient(
"/turtle_shape",
"turtle_actionlib/Shape"
);
ac.sendGoal(new shapeActionGoal({
goal: {
edges: 3,
radius: 1
}
}));
setTimeout(function() {
ac.cancel();
}, 1000);
}, 2000);
setTimeout(function () {
const shapeActionGoal = rosnodejs.require("turtle_actionlib").msg
.ShapeActionGoal;
const ac = rosnodejs.nh.actionClient(
"/turtle_shape",
"turtle_actionlib/Shape"
);
ac.sendGoal(
new shapeActionGoal({
goal: {
edges: 3,
radius: 1,
},
})
);
setTimeout(function () {
ac.cancel();
}, 1000);
}, 2000);

// ---------------------------------------------------------
// test int64 + uint64

rosNode.subscribe(
'/int64',
'std_msgs/Int64',
"/int64",
"std_msgs/Int64",
(data) => {
console.log('int64', data);
console.log("int64", data);
},
{queueSize: 1,
throttleMs: 1000});
{ queueSize: 1, throttleMs: 1000 }
);

let int64pub = rosNode.advertise('/int64','std_msgs/Int64', {
queueSize: 1,
latching: true,
throttleMs: 9
});
const Int64 = rosnodejs.require('std_msgs').msg.Int64;
int64pub.publish(new Int64({ data: "429496729456789012" }));
let int64pub = rosNode.advertise("/int64", "std_msgs/Int64", {
queueSize: 1,
latching: true,
throttleMs: 9,
});
const Int64 = rosnodejs.require("std_msgs").msg.Int64;
int64pub.publish(new Int64({ data: "429496729456789012" }));

rosNode.subscribe(
'/uint64',
'std_msgs/UInt64',
"/uint64",
"std_msgs/UInt64",
(data) => {
console.log('uint64', data);
console.log("uint64", data);
},
{queueSize: 1,
throttleMs: 1000});

let uint64pub = rosNode.advertise('/uint64','std_msgs/UInt64', {
queueSize: 1,
latching: true,
throttleMs: 9
});
const UInt64 = rosnodejs.require('std_msgs').msg.UInt64;
uint64pub.publish(new UInt64({ data: "9223372036854775807" }));
{ queueSize: 1, throttleMs: 1000 }
);

let uint64pub = rosNode.advertise("/uint64", "std_msgs/UInt64", {
queueSize: 1,
latching: true,
throttleMs: 9,
});
const UInt64 = rosnodejs.require("std_msgs").msg.UInt64;
uint64pub.publish(new UInt64({ data: "9223372036854775807" }));
});
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