Skip to content

Commit

Permalink
Merge pull request #216 from BCLab-UNM/rosbridge-launch
Browse files Browse the repository at this point in the history 
Rosbridge launch
  • Loading branch information
@gmfricke
gmfricke authored Nov 13, 2018
2 parents 065a4c1 + c6d8794 commit 9f0e6ee
Show file tree
Hide file tree
Showing 5 changed files with 43 additions and 368 deletions.
11 changes: 11 additions & 0 deletions README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -380,6 +380,17 @@ Once the key has been setup, copy the key from the users machine to each rover y

That's it! You should now have a seamless way to SSH without having to type in passwords each time!

## Notes for using rosbridge

The `misc/start_robots.sh` script now accepts a `--bridged` option that will run each robot independently and connect them to the GUI using rosbridge. For example:
```
$ ./start_robots.sh --bridged --prefix path/to/directory/containing/code/on/robot <calibration file> Swarmathon-UNM <list robot names>
```

You can also start a single robot manually using `misc/rover_launch_local.sh <calibration file>` script. Once the robot is running and the GUI is running use `misc/start_bridge.sh <robot-name>` to connect the robot to the GUI via rosbridge.

A firefox tab will open for each robot (if there is an error connecting to the robot it will appear in the browser console). If the robot does not appear in the GUI try reloading the robot interface page in the browser.

## Behaviours

This section provides an overview of the behaviours package. We
Expand Down
371 changes: 6 additions & 365 deletions misc/rosbridge/swarmie-web.js
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,370 +9,11 @@ function eventWindowLoaded () {

function runSwarmieWebsite() {

var Name = prompt("Please enter the robot's name.").toUpperCase();
var swarmieName = new Swarmie(Name);
var urlParams = new URLSearchParams(window.location.search);

// Publishing a Topic
// ------------------
var Name = urlParams.get('robotname');
console.log(Name);
var swarmie = new Swarmie(Name);


var robotMovement = new ROSLIB.Topic({
ros : robotRos,
name : '/' + Name + '/driveControl',
messageType : 'geometry_msgs/Twist'
});

var fingerAction = new ROSLIB.Topic({
ros : robotRos,
name : '/' + Name + '/fingerAngle/cmd',
messageType : 'std_msgs/Float32'
});

var wristAction = new ROSLIB.Topic({
ros : robotRos,
name : '/' + Name + '/wristAngle/cmd',
messageType : 'std_msgs/Float32'
});

var robotMode = new ROSLIB.Topic({
ros : robotRos,
name : '/' + Name + '/mode',
messageType : 'std_msgs/UInt8'
});

var move, finger, wrist, mode;

function changesMode(auto) {
mode = new ROSLIB.Message({
data : auto
});
return mode;
};

// document.getElementById('button').addEventListener('click', changeRobotMode);
var count = 0;

$("#button").click(function() {
count++;
count % 2 ? $runAuto() : $runManual();
});

function $runAuto () {
$('#textonbutton').text('Auto');
changesMode(2);
robotMode.publish(mode);
}
function $runManual () {
$('#textonbutton').text('Manual');
changesMode(1);
robotMode.publish(mode);
}

function moveWrist(up) {
wrist = new ROSLIB.Message({
data : up
});
return wrist;
};

$(document).keydown(function(e){
if (e.keyCode == 87) { //87 is "w" key
moveWrist(0); //up
wristAction.publish(wrist);
} else if (e.keyCode == 83) { //83 is "s" key
moveWrist(1.25); //down
wristAction.publish(wrist);
};
});

function moveFingers(open) {
finger = new ROSLIB.Message({
data : open
});
return finger;
};

$(document).keydown(function(e){
if (e.keyCode == 65) { //"a" key
moveFingers(Math.PI / 2);
fingerAction.publish(finger);
} else if (e.keyCode == 68) { //"d" key
moveFingers(0); //close
fingerAction.publish(finger);
};
});

function driveCommand(left, right) {
move = new ROSLIB.Message({
linear : {
x : left,
y : 0,
z : 0
},
angular : {
x : 0,
y : 0,
z : right
}
});
return move;
};

$(document).keydown(function(e){
switch (e.keyCode) {
case 38: //up arrow
e.preventDefault();
driveCommand(120, 120); //forward
robotMovement.publish(move);

break;
case 40: //down arrow
e.preventDefault();
driveCommand(-120, -120); //backward
robotMovement.publish(move);
break;
case 37: //left arrow
e.preventDefault();
driveCommand(-100, 100); //turn left
robotMovement.publish(move);
break;
case 39: //right arrow
e.preventDefault();
driveCommand(100, -100); //turn right
robotMovement.publish(move);
};
});

$(document).keyup(function(){
driveCommand(0, 0);
robotMovement.publish(move);
});


// Subscribing to a Topic
// ----------------------

var maxRange = 3.21;

var mapCoords = [];

var scaleCoords = [];

function storeCoords (xVal, yVal, array) {
array.push({x : xVal, y: yVal});
};

function storeScaleCoords (xVal, yVal, array) {
array.push({x : xVal, y : yVal});
drawPath(scaleCoords);
};

var positionReader = new ROSLIB.Topic({
ros : robotRos,
name : '/' + Name + '/odom/filtered',
messageType : 'nav_msgs/Odometry'
});

function distance (x1, y1, x2, y2) {
return Math.sqrt((x1 - x2)*(x1 - x2) + (y1 - y2)*(y1 - y2));
};

positionReader.subscribe(function(message) {
var posx, posy;
posx = message.pose.pose.position.x;
posy = message.pose.pose.position.y;
if (mapCoords.length === 0) {
storeCoords(posx, posy, mapCoords);
} else if (distance(posx, posy, mapCoords[mapCoords.length - 1].x,
mapCoords[mapCoords.length - 1].y) > 0.25) {
storeCoords(posx, posy, mapCoords);
};
});

document.getElementById('myRange').addEventListener('change', scalePoint);

var positionCanvas, canvasCtx;

function setupMapCanvas() {
positionCanvas = document.getElementById('positionmap');
canvasCtx = positionCanvas.getContext('2d');
canvasCtx.translate(positionCanvas.width * 0.5, positionCanvas.height * 0.5);
canvasCtx.scale(1, -1);
};
setupMapCanvas();

function drawPath (array) {
for (var i = 0; i < array.length - 1; i++) {
canvasCtx.save();
canvasCtx.beginPath();
canvasCtx.moveTo(array[i].x, array[i].y);
canvasCtx.lineTo(array[i + 1].x, array[i + 1].y);
canvasCtx.stroke();
};
};
var scale;
function scalePoint() {
scale = document.getElementById('myRange').value
document.getElementById('output').innerHTML = scale;
scaleCoords = [];
canvasCtx.clearRect(0, 0, positionCanvas.width, positionCanvas.height);
for (var i = 0; i < mapCoords.length; i++) {
newCoordsx = mapCoords[i].x * (scale / 50);
newCoordsy = mapCoords[i].y * (scale / 50);
storeScaleCoords(newCoordsx, newCoordsy, scaleCoords);
}
};
/*
var robotHeading = new ROSLIB.Topic({
ros : ros,
name : '/' + Name + '/odom/filtered',
messageType : 'nav_msgs/Odometry'
});
robotHeading.subscribe(function(message) {
var head;
head = message.pose.pose.orientation.y;
console.log(head);
});*/
var sonarLeft, sonarRight, sonarCenter;

sonarLeft = new ROSLIB.Topic({
ros : robotRos,
name : '/' + Name + '/sonarLeft',
messageType : 'sensor_msgs/Range'
});

sonarLeft.subscribe(function(message) {
var sonL;
sonL = message.range;
sonLimg(sonL);
});

function sonLimg(line) {
var Lcanvas, Lctx;

Lcanvas = document.getElementById('sonarImage');
Lctx = Lcanvas.getContext('2d');
Lctx.clearRect(0, 0, Lcanvas.width / 2, Lcanvas.height);

Lctx.beginPath();
Lctx.moveTo(Lcanvas.width / 2, Lcanvas.height);
Lctx.lineTo((Lcanvas.width / 2) - ((line / 2) / (maxRange/ 2) * (Lcanvas.width / 2)), Lcanvas.height - (line / Math.sqrt(3)) / (maxRange / Math.sqrt(3)) * Lcanvas.height);
Lctx.stroke();
};

sonarCenter = new ROSLIB.Topic({
ros : robotRos,
name : '/' + Name + '/sonarCenter',
messageType : 'sensor_msgs/Range'
});

sonarCenter.subscribe(function(message) {
var sonC;
sonC = message.range;
sonCimg(sonC);
});

function sonCimg(line) {
var Ccanvas, Cctx;

Ccanvas = document.getElementById('sonarImage');
Cctx = Ccanvas.getContext('2d');
Cctx.clearRect(Ccanvas.width / 2 - 1, 0, Ccanvas.width / 2 + 1, Ccanvas.height);

Cctx.beginPath();
Cctx.moveTo(Ccanvas.width / 2, Ccanvas.height);
Cctx.lineTo(Ccanvas.width / 2, Ccanvas.height - (Ccanvas.height * (line / maxRange)));
Cctx.stroke();
};

sonarRight = new ROSLIB.Topic({
ros : robotRos,
name : '/' + Name + '/sonarRight',
messageType : 'sensor_msgs/Range'
});

sonarRight.subscribe(function(message) {
var sonR = message.range;
sonRimg(sonR);
});

function sonRimg(line) {
var Rcanvas, Rctx;

Rcanvas = document.getElementById('sonarImage');
Rctx = Rcanvas.getContext('2d');
Rctx.clearRect(Rcanvas.width / 2 + 2, 0, Rcanvas.width, Rcanvas.height);

Rctx.beginPath();
Rctx.moveTo(Rcanvas.width / 2, Rcanvas.height);
Rctx.lineTo((Rcanvas.width / 2) + ((line / 2) / (maxRange/ 2) * (Rcanvas.width / 2)), Rcanvas.height - (line / Math.sqrt(3)) / (maxRange / Math.sqrt(3)) * Rcanvas.height);
Rctx.stroke();
};



var imageTopic = new ROSLIB.Topic({
ros : robotRos,
name : '/' + Name + '/targets/image/compressed',
messageType : 'sensor_msgs/CompressedImage'
});

imageTopic.subscribe(function(message) {
var imagedata = "data:image/jpg;base64," + message.data;
document.getElementById('image').setAttribute('src', imagedata);
});

// Calling a service
// -----------------

/*var addTwoIntsClient = new ROSLIB.Service({
ros : ros,
name : '/add_two_ints',
serviceType : 'rospy_tutorials/AddTwoInts'
});
var request = new ROSLIB.ServiceRequest({
a : 1,
b : 2
});
addTwoIntsClient.callService(request, function(result) {
console.log('Result for service call on '
+ addTwoIntsClient.name
+ ': '
+ result.sum);
});*/

// Getting and setting a param value
// ---------------------------------

/* ros.getParams(function(params) {
console.log(params);
});
var maxVelX = new ROSLIB.Param({
ros : ros,
name : 'max_vel_y'
});
maxVelX.set(0.8);
maxVelX.get(function(value) {
console.log('MAX VAL: ' + value);
});
*/
function drawMapCallback() {
if (scaleCoords === []) {
canvasCtx.clearRect(0, 0, positionCanvas.width, positionCanvas.height);
drawPath(mapCoords);
} else {
canvasCtx.clearRect(0 - positionCanvas.width/2, 0 - positionCanvas.height/2, positionCanvas.width, positionCanvas.height);
scalePoint();
drawPath(scaleCoords);
};
setTimeout(drawMapCallback, 50);
};
setTimeout(drawMapCallback, 50);

dicument.title = Name;
};
document.title = Name;
};
Empty file modified misc/rover_launch_local.sh
100644 → 100755
View file
Empty file.
Loading

0 comments on commit 9f0e6ee

Please sign in to comment.