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🤖 Merge PR #45749 [roslib] Add URDF classes by @lights0123
* Format to latest style guide * [roslib] Add URDF classes * Bump version and make typescript-bot rerun performance tests
This commit is contained in:
Ben Schattinger
GitHub
parent
60673c1467
commit
1d8c0f9575
407
types/roslib/index.d.ts
vendored
407
types/roslib/index.d.ts
vendored
@ -1,12 +1,11 @@
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// Type definitions for roslib.js 1.0.1
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// Type definitions for roslib.js 1.1.0
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// Project: http://wiki.ros.org/roslibjs
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// Definitions by: Stefan Profanter <https://github.com/Pro>,
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// Cooper Benson <https://github.com/skycoop>,
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// David Gonzalez <https://github.com/dgorobopec>
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// Arvid Norlander <https://github.com/VorpalBlade>
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// Definitions: https://github.com/DefinitelyTyped/DefinitelyTyped
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// TypeScript Version: 3.0
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// TypeScript Version: 3.7
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/* ----------------------------------
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@ -18,6 +17,17 @@ export = ROSLIB;
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export as namespace ROSLIB;
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declare namespace ROSLIB {
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interface Vector3Like {
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x?: number | null;
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y?: number | null;
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z?: number | null;
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}
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interface QuaternionLike {
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x?: number | null;
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y?: number | null;
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z?: number | null;
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w?: number | null;
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}
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export class Ros {
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/**
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* Manages connection to the server and all interactions with ROS.
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@ -36,26 +46,26 @@ declare namespace ROSLIB {
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* * transportLibrary (optional) - one of 'websocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`.
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* * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.
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*/
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constructor(options:{
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url?: string,
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groovyCompatibility?: boolean,
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transportLibrary?: 'websocket' | 'socket.io' | RTCPeerConnection,
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transportOptions?: RTCDataChannelInit
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constructor(options: {
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url?: string;
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groovyCompatibility?: boolean;
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transportLibrary?: 'websocket' | 'socket.io' | RTCPeerConnection;
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transportOptions?: RTCDataChannelInit;
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});
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on(eventName:string, callback:(event:any) => void):void;
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on(eventName: string, callback: (event: any) => void): void;
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/**
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* Connect to the specified WebSocket.
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*
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* @param url - WebSocket URL for Rosbridge
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*/
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connect(url:string):void;
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connect(url: string): void;
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/**
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* Disconnect from the WebSocket server.
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*/
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close():void;
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close(): void;
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/**
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* Sends an authorization request to the server.
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@ -68,14 +78,21 @@ declare namespace ROSLIB {
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* @param level - User level as a string given by the client.
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* @param end - End time of the client's session.
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*/
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authenticate(mac:string, client:string, dest:string, rand:string, t:number, level:string, end:number):void;
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authenticate(
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mac: string,
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client: string,
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dest: string,
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rand: string,
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t: number,
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level: string,
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end: number,
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): void;
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/**
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* Sends the message over the WebSocket, but queues the message up if not yet
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* connected.
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*/
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callOnConnection(message:any):void;
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callOnConnection(message: any): void;
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/**
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* Retrieves list of actionlib servers in ROS as an array.
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@ -85,7 +102,7 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the ros call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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getActionServers(callback:(action_servers:string[]) => void, failedCallback?:(error:any)=>void):void;
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getActionServers(callback: (action_servers: string[]) => void, failedCallback?: (error: any) => void): void;
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/**
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* Retrieves list of topics in ROS as an array.
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@ -95,7 +112,7 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the ros call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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getTopics(callback:(topics:string[]) => void, failedCallback?:(error:any)=>void):void;
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getTopics(callback: (topics: string[]) => void, failedCallback?: (error: any) => void): void;
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/**
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* Retrieves Topics in ROS as an array as specific type
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@ -106,7 +123,11 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the ros call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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getTopicsForType(topicType:string, callback:(topics:string[]) => void, failedCallback?:(error:any)=>void):void;
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getTopicsForType(
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topicType: string,
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callback: (topics: string[]) => void,
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failedCallback?: (error: any) => void,
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): void;
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/**
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* Retrieves list of active service names in ROS.
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@ -116,7 +137,7 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the ros call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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getServices(callback:(services:string[]) => void, failedCallback?:(error:any)=>void):void;
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getServices(callback: (services: string[]) => void, failedCallback?: (error: any) => void): void;
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/**
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* Retrieves list of services in ROS as an array as specific type
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@ -127,7 +148,11 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the ros call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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getServicesForType(serviceType:string, callback:(services:string[]) => void, failedCallback?:(error:any)=>void):void;
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getServicesForType(
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serviceType: string,
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callback: (services: string[]) => void,
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failedCallback?: (error: any) => void,
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): void;
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/**
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* Retrieves list of active node names in ROS.
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@ -137,7 +162,7 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the ros call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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getNodes(callback:(nodes:string[]) => void, failedCallback?:(error:any)=>void):void;
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getNodes(callback: (nodes: string[]) => void, failedCallback?: (error: any) => void): void;
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/**
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* Retrieves list of param names from the ROS Parameter Server.
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@ -147,7 +172,7 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the ros call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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getParams(callback:(params:string[]) => void, failedCallback?:(error:any)=>void):void;
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getParams(callback: (params: string[]) => void, failedCallback?: (error: any) => void): void;
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/**
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* Retrieves a type of ROS topic.
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@ -158,7 +183,7 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the ros call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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getTopicType(topic:string, callback:(type:string) => void, failedCallback?:(error:any)=>void):void;
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getTopicType(topic: string, callback: (type: string) => void, failedCallback?: (error: any) => void): void;
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/**
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* Retrieves a type of ROS service.
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@ -169,7 +194,7 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the ros call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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getServiceType(service:string, callback:(type:string) => void, failedCallback?:(error:any)=>void):void;
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getServiceType(service: string, callback: (type: string) => void, failedCallback?: (error: any) => void): void;
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/**
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* Retrieves a detail of ROS message.
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@ -180,14 +205,18 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the ros call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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getMessageDetails(message:Message, callback:(detail:any) => void, failedCallback?:(error:any)=>void):void;
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getMessageDetails(
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message: Message,
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callback: (detail: any) => void,
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failedCallback?: (error: any) => void,
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): void;
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/**
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* Decode a typedefs into a dictionary like `rosmsg show foo/bar`
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*
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* @param defs - array of type_def dictionary
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*/
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decodeTypeDefs(defs:any):void;
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decodeTypeDefs(defs: any): void;
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}
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export class Message {
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@ -197,7 +226,7 @@ declare namespace ROSLIB {
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* @constructor
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* @param values - object matching the fields defined in the .msg definition file
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*/
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constructor(values:any);
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constructor(values: any);
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}
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export class Param {
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@ -209,10 +238,7 @@ declare namespace ROSLIB {
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* * ros - the ROSLIB.Ros connection handle
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* * name - the param name, like max_vel_x
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*/
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constructor(options:{
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ros: Ros,
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name: string
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});
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constructor(options: { ros: Ros; name: string });
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/**
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* Fetches the value of the param.
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@ -220,7 +246,7 @@ declare namespace ROSLIB {
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* @param callback - function with the following params:
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* * value - the value of the param from ROS.
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*/
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get(callback:(response:any) => void):void;
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get(callback: (response: any) => void): void;
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/**
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* Sets the value of the param in ROS.
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@ -229,16 +255,14 @@ declare namespace ROSLIB {
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* @param callback - function with params:
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* * response - the response from the service request
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*/
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set(value:any, callback?:(response:any) => void):void;
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set(value: any, callback?: (response: any) => void): void;
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/**
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* Delete this parameter on the ROS server.
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*/
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delete(callback:(response:any) => void):void;
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delete(callback: (response: any) => void): void;
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}
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export class Service {
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/**
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* A ROS service client.
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@ -249,17 +273,12 @@ declare namespace ROSLIB {
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* * name - the service name, like /add_two_ints
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* * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
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*/
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constructor(data:{
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ros: Ros,
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name: string,
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serviceType: string
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});
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constructor(data: { ros: Ros; name: string; serviceType: string });
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// getter
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public name:string;
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public name: string;
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// getter
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public serviceType:string;
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public serviceType: string;
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/**
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* Calls the service. Returns the service response in the callback.
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@ -270,7 +289,11 @@ declare namespace ROSLIB {
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* @param failedCallback - the callback function when the service call failed (optional). Params:
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* * error - the error message reported by ROS
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*/
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callService(request:ServiceRequest, callback:(response:any) => void, failedCallback?:(error:any) => void):void;
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callService(
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request: ServiceRequest,
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callback: (response: any) => void,
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failedCallback?: (error: any) => void,
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): void;
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/**
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* Advertise this service and call the callback each time a client calls it.
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@ -279,12 +302,12 @@ declare namespace ROSLIB {
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* * request - the service request data
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* * response - the data which should be sent back to the caller
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*/
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advertise(callback:(request:any, response:any) => void):void;
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advertise(callback: (request: any, response: any) => void): void;
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/**
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* Unadvertise a previously advertised service
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*/
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unadvertise():void;
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unadvertise(): void;
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}
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export class ServiceRequest {
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@ -294,7 +317,7 @@ declare namespace ROSLIB {
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* @constructor
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* @param values - object matching the fields defined in the .srv definition file
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*/
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constructor(values?:any);
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constructor(values?: any);
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}
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export class ServiceResponse {
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@ -304,7 +327,7 @@ declare namespace ROSLIB {
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* @constructor
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* @param values - object matching the fields defined in the .srv definition file
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*/
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constructor(values?:any);
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constructor(values?: any);
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}
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export class Topic {
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@ -326,21 +349,21 @@ declare namespace ROSLIB {
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* * latch - latch the topic when publishing
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* * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing).
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*/
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constructor(options:{
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ros: Ros,
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name: string,
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messageType: string,
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compression?: string,
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throttle_rate?: number,
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queue_size?: number,
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latch?: boolean,
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queue_length?: number
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constructor(options: {
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ros: Ros;
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name: string;
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messageType: string;
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compression?: string;
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throttle_rate?: number;
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queue_size?: number;
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latch?: boolean;
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queue_length?: number;
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});
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// getter
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public name:string;
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public name: string;
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// getter
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public messageType:string;
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public messageType: string;
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/**
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* Every time a message is published for the given topic, the callback
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@ -349,7 +372,7 @@ declare namespace ROSLIB {
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* @param callback - function with the following params:
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* * message - the published message
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*/
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subscribe(callback:(message:Message) => void):void;
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subscribe(callback: (message: Message) => void): void;
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/**
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* Unregisters as a subscriber for the topic. Unsubscribing stop remove
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@ -360,24 +383,24 @@ declare namespace ROSLIB {
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* * provided and other listeners are registered the topic won't
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* * unsubscribe, just stop emitting to the passed listener
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*/
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unsubscribe(callback?:(callback:(message:Message) => void) => void):void;
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unsubscribe(callback?: (callback: (message: Message) => void) => void): void;
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/**
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* Registers as a publisher for the topic.
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*/
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advertise():void;
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advertise(): void;
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/**
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* Unregisters as a publisher for the topic.
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*/
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unadvertise():void;
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unadvertise(): void;
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/**
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* Publish the message.
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*
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* @param message - A ROSLIB.Message object.
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*/
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publish(message:Message):void;
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publish(message: Message): void;
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}
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export class TFClient {
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@ -397,15 +420,15 @@ declare namespace ROSLIB {
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* * repubServiceName (optional) - the name of the republish_tfs service (non groovy compatibility mode only) default: '/republish_tfs'
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*/
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constructor(options: {
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ros: Ros,
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ros: Ros;
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fixedFrame?: string;
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angularThres?: number,
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transThres?: number,
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rate?: number,
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updateDelay?: number,
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topicTimeout?: number,
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serverName?: string,
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repubServiceName?: string
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angularThres?: number;
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transThres?: number;
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rate?: number;
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updateDelay?: number;
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topicTimeout?: number;
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serverName?: string;
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repubServiceName?: string;
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});
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/**
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@ -432,7 +455,7 @@ declare namespace ROSLIB {
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* @param callback - function with params:
|
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* * transform - the transform data
|
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*/
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subscribe(frameId: string, callback:(transform:Transform) => void): void;
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subscribe(frameId: string, callback: (transform: Transform) => void): void;
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/**
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* Unsubscribe from the given TF frame.
|
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@ -440,7 +463,7 @@ declare namespace ROSLIB {
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* @param frameId - the TF frame to unsubscribe from
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* @param callback - the callback function to remove
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*/
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unsubscribe(frameId: string, callback?:(transform:Transform) => void): void;
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unsubscribe(frameId: string, callback?: (transform: Transform) => void): void;
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/**
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* Create and send a new goal (or service request) to the tf2_web_republisher based on the current list of TFs.
|
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@ -457,10 +480,7 @@ declare namespace ROSLIB {
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* * translation - the Vector3 describing the translation
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* * rotation - the ROSLIB.Quaternion describing the rotation
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*/
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constructor(options: {
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translation: Vector3,
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rotation: Quaternion
|
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});
|
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constructor(options?: { translation?: Vector3Like | null; rotation?: QuaternionLike | null });
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// getters
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public translation: Vector3;
|
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@ -472,7 +492,7 @@ declare namespace ROSLIB {
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clone(): Transform;
|
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}
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|
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export class Vector3 {
|
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export class Vector3 implements Vector3Like {
|
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/**
|
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* A 3D vector.
|
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*
|
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@ -482,11 +502,7 @@ declare namespace ROSLIB {
|
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* * y - the y value
|
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* * z - the z value
|
||||
*/
|
||||
constructor(options: {
|
||||
x: number,
|
||||
y: number,
|
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z: number
|
||||
});
|
||||
constructor(options?: { x?: number | null; y?: number | null; z?: number | null } | null);
|
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|
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// getters
|
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public x: number;
|
||||
@ -519,7 +535,7 @@ declare namespace ROSLIB {
|
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subtract(v: Vector3): void;
|
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}
|
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|
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export class Quaternion {
|
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export class Quaternion implements QuaternionLike {
|
||||
/**
|
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* A Quaternion.
|
||||
*
|
||||
@ -530,12 +546,7 @@ declare namespace ROSLIB {
|
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* * z - the z value
|
||||
* * w - the w value
|
||||
*/
|
||||
constructor(options?: {
|
||||
x: number,
|
||||
y: number,
|
||||
z: number,
|
||||
w: number
|
||||
});
|
||||
constructor(options?: { x?: number | null; y?: number | null; z?: number | null; w?: number | null } | null);
|
||||
|
||||
// getters
|
||||
public x: number;
|
||||
@ -575,6 +586,40 @@ declare namespace ROSLIB {
|
||||
normalize(): void;
|
||||
}
|
||||
|
||||
export class Pose {
|
||||
position: Vector3;
|
||||
orientation: Quaternion;
|
||||
|
||||
/**
|
||||
* A Pose in 3D space. Values are copied into this object.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * position - the Vector3 describing the position
|
||||
* * orientation - the ROSLIB.Quaternion describing the orientation
|
||||
*/
|
||||
constructor(
|
||||
options?: {
|
||||
position?: Vector3Like | null;
|
||||
orientation?: QuaternionLike | null;
|
||||
} | null,
|
||||
);
|
||||
|
||||
/**
|
||||
* Apply a transform against this pose.
|
||||
*
|
||||
* @param tf the transform
|
||||
*/
|
||||
applyTransform(tf: Transform): void;
|
||||
|
||||
/**
|
||||
* Clone a copy of this pose.
|
||||
*
|
||||
* @returns the cloned pose
|
||||
*/
|
||||
clone(): Pose;
|
||||
}
|
||||
|
||||
class ActionClient {
|
||||
/**
|
||||
* An actionlib action client.
|
||||
@ -592,17 +637,12 @@ declare namespace ROSLIB {
|
||||
* * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
|
||||
* * timeout - the timeout length when connecting to the action server
|
||||
*/
|
||||
constructor(options:{
|
||||
ros: Ros,
|
||||
serverName: string,
|
||||
actionName: string,
|
||||
timeout: number
|
||||
});
|
||||
constructor(options: { ros: Ros; serverName: string; actionName: string; timeout: number });
|
||||
|
||||
/**
|
||||
* Cancel all goals associated with this ActionClient.
|
||||
*/
|
||||
cancel():void;
|
||||
cancel(): void;
|
||||
}
|
||||
|
||||
class Goal {
|
||||
@ -617,10 +657,7 @@ declare namespace ROSLIB {
|
||||
* * actionClient - the ROSLIB.ActionClient to use with this goal
|
||||
* * goalMessage - The JSON object containing the goal for the action server
|
||||
*/
|
||||
constructor(options:{
|
||||
actionClient: ActionClient,
|
||||
goalMessage: any
|
||||
});
|
||||
constructor(options: { actionClient: ActionClient; goalMessage: any });
|
||||
|
||||
/**
|
||||
* Connect callback functions to goal based events
|
||||
@ -628,18 +665,178 @@ declare namespace ROSLIB {
|
||||
* @param eventName Name of event ('timeout', 'status', 'feedback', 'result')
|
||||
* @param callback Callback function executed on connected event
|
||||
*/
|
||||
on(eventName:string, callback:(event:any) => void):void;
|
||||
on(eventName: string, callback: (event: any) => void): void;
|
||||
|
||||
/**
|
||||
* Send the goal to the action server.
|
||||
*
|
||||
* @param timeout (optional) - a timeout length for the goal's result
|
||||
*/
|
||||
send(timeout?:number):void;
|
||||
send(timeout?: number): void;
|
||||
|
||||
/**
|
||||
* Cancel the current goal.
|
||||
*/
|
||||
cancel():void;
|
||||
cancel(): void;
|
||||
}
|
||||
|
||||
export class UrdfColor {
|
||||
r: number;
|
||||
g: number;
|
||||
b: number;
|
||||
a: number;
|
||||
/**
|
||||
* A Color element in a URDF.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * xml - the XML element to parse
|
||||
*/
|
||||
constructor(options: { xml: Node });
|
||||
}
|
||||
|
||||
export class UrdfMaterial {
|
||||
textureFilename: string | null;
|
||||
color: UrdfColor | null;
|
||||
name: string;
|
||||
|
||||
/**
|
||||
* A Material element in a URDF.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * xml - the XML element to parse
|
||||
*/
|
||||
constructor(options: { xml: Node });
|
||||
|
||||
isLink(): boolean;
|
||||
}
|
||||
|
||||
export class UrdfJoint {
|
||||
name: string;
|
||||
type: string;
|
||||
parent: string | null;
|
||||
child: string | null;
|
||||
minval: number | null;
|
||||
maxval: number | null;
|
||||
|
||||
/**
|
||||
* A Joint element in a URDF.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * xml - the XML element to parse
|
||||
*/
|
||||
constructor(options: { xml: Node });
|
||||
}
|
||||
|
||||
export const URDF_SPHERE: 0;
|
||||
export const URDF_BOX: 1;
|
||||
export const URDF_CYLINDER: 2;
|
||||
export const URDF_MESH: 3;
|
||||
|
||||
export type UrdfGeometry = UrdfSphere | UrdfBox | UrdfCylinder | UrdfMesh;
|
||||
|
||||
export class UrdfSphere {
|
||||
type: typeof URDF_SPHERE;
|
||||
radius: number;
|
||||
|
||||
/**
|
||||
* A Sphere element in a URDF.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * xml - the XML element to parse
|
||||
*/
|
||||
constructor(options: { xml: Node });
|
||||
}
|
||||
|
||||
export class UrdfBox {
|
||||
type: typeof URDF_BOX;
|
||||
dimension: Vector3;
|
||||
|
||||
/**
|
||||
* A Box element in a URDF.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * xml - the XML element to parse
|
||||
*/
|
||||
constructor(options: { xml: Node });
|
||||
}
|
||||
|
||||
export class UrdfCylinder {
|
||||
type: typeof URDF_CYLINDER;
|
||||
length: number;
|
||||
radius: number;
|
||||
|
||||
/**
|
||||
* A Cylinder element in a URDF.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * xml - the XML element to parse
|
||||
*/
|
||||
constructor(options: { xml: Node });
|
||||
}
|
||||
|
||||
export class UrdfMesh {
|
||||
type: typeof URDF_MESH;
|
||||
filename: string;
|
||||
scale: Vector3 | null;
|
||||
|
||||
/**
|
||||
* A Box element in a URDF.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * xml - the XML element to parse
|
||||
*/
|
||||
constructor(options: { xml: Node });
|
||||
}
|
||||
|
||||
export class UrdfVisual {
|
||||
origin: Pose | null;
|
||||
geometry: UrdfGeometry | null;
|
||||
material: UrdfMaterial | null;
|
||||
|
||||
/**
|
||||
* A Visual element in a URDF.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * xml - the XML element to parse
|
||||
*/
|
||||
constructor(options: { xml: Node });
|
||||
}
|
||||
|
||||
export class UrdfLink {
|
||||
name: string;
|
||||
visuals: UrdfVisual[];
|
||||
|
||||
/**
|
||||
* A Link element in a URDF.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * xml - the XML element to parse
|
||||
*/
|
||||
constructor(options: { xml: Node });
|
||||
}
|
||||
|
||||
export class UrdfModel {
|
||||
materials: Record<string, UrdfMaterial>;
|
||||
links: Record<string, UrdfLink>;
|
||||
joints: Record<string, UrdfJoint>;
|
||||
|
||||
/**
|
||||
* A URDF Model can be used to parse a given URDF into the appropriate elements.
|
||||
*
|
||||
* @constructor
|
||||
* @param options - object with following keys:
|
||||
* * xml - the XML element to parse
|
||||
* * string - the XML element to parse as a string
|
||||
*/
|
||||
constructor(options: { xml: Node; string?: string | null } | { string: string });
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
import ROSLIB = require("roslib");
|
||||
import ROSLIB = require('roslib');
|
||||
|
||||
var ros = new ROSLIB.Ros({
|
||||
url: 'ws://localhost:9090'
|
||||
url: 'ws://localhost:9090',
|
||||
});
|
||||
|
||||
ros.on('connection', function () {
|
||||
@ -22,20 +22,20 @@ ros.on('close', function () {
|
||||
var cmdVel = new ROSLIB.Topic({
|
||||
ros: ros,
|
||||
name: '/cmd_vel',
|
||||
messageType: 'geometry_msgs/Twist'
|
||||
messageType: 'geometry_msgs/Twist',
|
||||
});
|
||||
|
||||
var twist = new ROSLIB.Message({
|
||||
linear: {
|
||||
x: 0.1,
|
||||
y: 0.2,
|
||||
z: 0.3
|
||||
z: 0.3,
|
||||
},
|
||||
angular: {
|
||||
x: -0.1,
|
||||
y: -0.2,
|
||||
z: -0.3
|
||||
}
|
||||
z: -0.3,
|
||||
},
|
||||
});
|
||||
cmdVel.publish(twist);
|
||||
|
||||
@ -45,13 +45,13 @@ cmdVel.publish(twist);
|
||||
var listener = new ROSLIB.Topic({
|
||||
ros: ros,
|
||||
name: '/listener',
|
||||
messageType: 'std_msgs/String'
|
||||
messageType: 'std_msgs/String',
|
||||
});
|
||||
|
||||
let subscription_callback = function (message:ROSLIB.Message) {
|
||||
let subscription_callback = function (message: ROSLIB.Message) {
|
||||
console.log('Received message on ' + listener.name + ': ' + message);
|
||||
listener.unsubscribe();
|
||||
}
|
||||
};
|
||||
|
||||
listener.subscribe(subscription_callback);
|
||||
listener.unsubscribe(subscription_callback);
|
||||
@ -62,19 +62,16 @@ listener.unsubscribe(subscription_callback);
|
||||
var addTwoIntsClient = new ROSLIB.Service({
|
||||
ros: ros,
|
||||
name: '/add_two_ints',
|
||||
serviceType: 'rospy_tutorials/AddTwoInts'
|
||||
serviceType: 'rospy_tutorials/AddTwoInts',
|
||||
});
|
||||
|
||||
var request = new ROSLIB.ServiceRequest({
|
||||
a: 1,
|
||||
b: 2
|
||||
b: 2,
|
||||
});
|
||||
|
||||
addTwoIntsClient.callService(request, function (result) {
|
||||
console.log('Result for service call on '
|
||||
+ addTwoIntsClient.name
|
||||
+ ': '
|
||||
+ result.sum);
|
||||
console.log('Result for service call on ' + addTwoIntsClient.name + ': ' + result.sum);
|
||||
});
|
||||
|
||||
// Providing a service
|
||||
@ -83,24 +80,24 @@ addTwoIntsClient.callService(request, function (result) {
|
||||
var addTwoInts = new ROSLIB.Service({
|
||||
ros: ros,
|
||||
name: '/add_two_ints',
|
||||
serviceType: 'beginner_tutorials/AddTwoInts'
|
||||
serviceType: 'beginner_tutorials/AddTwoInts',
|
||||
});
|
||||
|
||||
addTwoInts.advertise((req, resp) => {
|
||||
resp.sum = req.a + req.b
|
||||
resp.sum = req.a + req.b;
|
||||
return true;
|
||||
});
|
||||
|
||||
// Getting and setting a param value
|
||||
// ---------------------------------
|
||||
|
||||
ros.getParams(function (params:string[]) {
|
||||
ros.getParams(function (params: string[]) {
|
||||
console.log(params);
|
||||
});
|
||||
|
||||
var maxVelX = new ROSLIB.Param({
|
||||
ros: ros,
|
||||
name: 'max_vel_y'
|
||||
name: 'max_vel_y',
|
||||
});
|
||||
|
||||
maxVelX.set(0.8);
|
||||
@ -112,12 +109,118 @@ maxVelX.get(function (value) {
|
||||
// --------------------
|
||||
const tfClient = new ROSLIB.TFClient({
|
||||
ros: ros,
|
||||
fixedFrame: '/world'
|
||||
})
|
||||
fixedFrame: '/world',
|
||||
});
|
||||
const tfclient_callback = function (transform: ROSLIB.Transform) {
|
||||
console.log('Received transform: ' + transform);
|
||||
tfClient.unsubscribe('/transform');
|
||||
}
|
||||
};
|
||||
|
||||
tfClient.subscribe('/transform', tfclient_callback);
|
||||
tfClient.unsubscribe('/transform', tfclient_callback);
|
||||
|
||||
new ROSLIB.Pose();
|
||||
new ROSLIB.Pose(null);
|
||||
new ROSLIB.Pose({});
|
||||
new ROSLIB.Pose({ position: null });
|
||||
new ROSLIB.Pose({ orientation: null });
|
||||
new ROSLIB.Pose({ position: {} });
|
||||
new ROSLIB.Pose({ position: { x: 5 } });
|
||||
new ROSLIB.Pose({ position: { x: null } });
|
||||
new ROSLIB.Pose({ orientation: {} });
|
||||
new ROSLIB.Pose({ orientation: { y: -1 } });
|
||||
new ROSLIB.Pose({ orientation: { y: null } });
|
||||
const pose = new ROSLIB.Pose({ orientation: { w: 0, x: 0, y: 0, z: 0 }, position: { x: 0, y: 0, z: 0 } });
|
||||
// $ExpectType Pose
|
||||
pose.clone();
|
||||
// $ExpectType Vector3
|
||||
pose.position;
|
||||
// $ExpectType Quaternion
|
||||
pose.orientation;
|
||||
|
||||
// URDF
|
||||
{
|
||||
const parser = new DOMParser();
|
||||
const document = parser.parseFromString('<actual-xml />', 'text/xml');
|
||||
// $ExpectError
|
||||
new ROSLIB.UrdfModel({});
|
||||
// $ExpectError
|
||||
new ROSLIB.UrdfModel();
|
||||
new ROSLIB.UrdfModel({ xml: document });
|
||||
new ROSLIB.UrdfModel({ xml: document, string: '<actual-xml />' });
|
||||
const model = new ROSLIB.UrdfModel({ string: '<actual-xml />' });
|
||||
|
||||
const material: ROSLIB.UrdfMaterial = model.materials[0];
|
||||
|
||||
// $ExpectType string | null
|
||||
material.textureFilename;
|
||||
// $ExpectType UrdfColor | null
|
||||
material.color;
|
||||
// $ExpectType string
|
||||
material.name;
|
||||
// $ExpectType boolean
|
||||
material.isLink();
|
||||
|
||||
if (material.color) {
|
||||
// $ExpectType number
|
||||
material.color.r;
|
||||
// $ExpectType number
|
||||
material.color.g;
|
||||
// $ExpectType number
|
||||
material.color.b;
|
||||
// $ExpectType number
|
||||
material.color.a;
|
||||
}
|
||||
|
||||
const link: ROSLIB.UrdfLink = model.links[0];
|
||||
// $ExpectType string
|
||||
link.name;
|
||||
|
||||
const visual: ROSLIB.UrdfVisual = link.visuals[0];
|
||||
// $ExpectType Pose | null
|
||||
visual.origin;
|
||||
// $ExpectType UrdfMaterial | null
|
||||
visual.material;
|
||||
switch (visual.geometry?.type) {
|
||||
case ROSLIB.URDF_SPHERE:
|
||||
// $ExpectType number
|
||||
visual.geometry.radius;
|
||||
// $ExpectError
|
||||
visual.geometry.dimension;
|
||||
break;
|
||||
case ROSLIB.URDF_BOX:
|
||||
// $ExpectType Vector3
|
||||
visual.geometry.dimension;
|
||||
break;
|
||||
case ROSLIB.URDF_CYLINDER:
|
||||
// $ExpectType number
|
||||
visual.geometry.length;
|
||||
// $ExpectType number
|
||||
visual.geometry.radius;
|
||||
break;
|
||||
case ROSLIB.URDF_MESH:
|
||||
// $ExpectType string
|
||||
visual.geometry.filename;
|
||||
// $ExpectType Vector3 | null
|
||||
visual.geometry.scale;
|
||||
// $ExpectError
|
||||
visual.geometry.length;
|
||||
break;
|
||||
}
|
||||
// $ExpectError
|
||||
visual.geometry?.radius;
|
||||
|
||||
const joint: ROSLIB.UrdfJoint = model.joints[0];
|
||||
// $ExpectType string
|
||||
joint.name;
|
||||
// $ExpectType string
|
||||
joint.type;
|
||||
// $ExpectType string | null
|
||||
joint.parent;
|
||||
// $ExpectType string | null
|
||||
joint.child;
|
||||
// $ExpectType number | null
|
||||
joint.minval;
|
||||
// $ExpectType number | null
|
||||
joint.maxval;
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user