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initial version

answered 2012-02-15 12:07:26 -0600

Scott gravatar image

<html> <head> <script type="text/javascript" src="http://brown-ros-pkg.googlecode.com/svn/tags/brown-ros-pkg/rosbridge/ros.js"></script> <script type="text/javascript"> function nop() {} /* console for logging */ var console = null;

function pub()
{ 
    var connection2 = new ros.Connection("ws://127.0.0.1:9090");
    connection2.setOnOpen(function (e) {
        log('connected to ros for 2nd time');
        log('attempting to send message over 2nd socket connection.');
    connection2.publish('/recognizer/output', 'std_msgs/String', '{"data":' + '"On Pub Button Click Message"' + '}');

    });
}

function displayDate()
{
document.getElementById("demo").innerHTML=Date();
var connection2 = new ros.Connection("ws://127.0.0.1:9090");
connection2.setOnOpen(function (e) {
    log('connected to ros for 2nd time');
    log('attempting to send message over 2nd socket connection.');
connection2.publish('/recognizer/output', 'std_msgs/String', '{"data":' + '"On Display Date Button"' + '}');

});
}

function log(msg) {
    console.innerHTML = console.innerHTML + msg + "<br/>";
}
function init() {
    function waitForDOM() {
        var cnsl = document.getElementById('console');
        if (cnsl == null) {
            setTimeout(waitForDOM, 100);
        } else {
            console = cnsl;
            setTimeout(main, 0);
        }
    }
    setTimeout(waitForDOM, 100);
}

function main() {
    log('console initialized');
    var connectInfo = document.location.toString();
    log('url: ' + connectInfo);
    var addressMatches = connectInfo.match(/address=([^&]*)/);
    if (addressMatches == null) {
        log('Problem extracting address!');
        return;
    }
    var address = addressMatches[1];
    log('address: ' + address);
    var portMatches = connectInfo.match(/.*&port=([^&]*)/);
    if (portMatches == null) {
        log('Problem extracting port!');
        return;
    }
    var port = portMatches[1];
    log('port: ' + port);
    log('creating ROSProxy connection object...');
    var connection = null;
    try {
        connection = new ros.Connection('ws://' + address + ':' + port);
    } catch (err) {
        log('Problem creating proxy connection object!');
        return;
    }
    log('created');
    log('connecting to ' + address + ' on port ' + port + '...');

    connection.setOnClose(function (e) {
        log('connection closed');
    });
    connection.setOnError(function (e) {
        log('network error!');
    });
    connection.setOnOpen(function (e) {
        log('connected');
        log('initializing ROSProxy...');
        try {
            connection.callService('/rosjs/topics', '[]', nop);
        } catch (error) {
            log('Problem initializing ROSProxy!');
            return;
        }
        log('initialized');       
        log('running');  
        log('trying to publish a message');
        connection.publish('/recognizer/output', 'std_msgs/String', '{"data":' + '"On Page Load Message"' + '}');
    });
}
    </script>
  </head>
<body onload="init()">
<div id="console"></div>
<h1>Rosbridge Test Page</h1>

This page shows how to publish messages with json over rosbridge on page load and on button click event

<button type="button" onclick="displayDate()">Display Date</button> <button type="button" onclick="pub()">Publish String Message</button> </body> </html>

<html> <head> <html> <head> <script type="text/javascript" src="http://brown-ros-pkg.googlecode.com/svn/tags/brown-ros-pkg/rosbridge/ros.js"></script> src="http://brown-ros-pkg.googlecode.com/svn/tags/brown-ros-pkg/rosbridge/ros.js"></script> <script type="text/javascript"> type="text/javascript"> function nop() {} {} /* console for logging */ */ var console = null;

function pub()
{ 
{
    var connection2 = new ros.Connection("ws://127.0.0.1:9090");
    connection2.setOnOpen(function (e) {
        log('connected to ros for 2nd time');
        log('attempting to send message over 2nd socket connection.');
    connection2.publish('/recognizer/output', 'std_msgs/String', '{"data":' + '"On Pub Button Click Message"' + '}');

    '}');
 
});
}


 
}
 
function displayDate()
{
 document.getElementById("demo").innerHTML=Date();
var connection2 connection3 = new ros.Connection("ws://127.0.0.1:9090");
connection2.setOnOpen(function connection3.setOnOpen(function (e) {
    log('connected to ros for 2nd 3rd time');
    log('attempting to send message over 2nd 3rd socket connection.');
connection2.publish('/recognizer/output', connection3.publish('/recognizer/output', 'std_msgs/String', '{"data":' + '"On Display Date Button"' + '}');

'}');
 
});
}

}
 
function log(msg) {
    console.innerHTML = console.innerHTML + msg + "<br/>";
"
";
}
function init() {
    function waitForDOM() {
        var cnsl = document.getElementById('console');
        if (cnsl == null) {
            setTimeout(waitForDOM, 100);
        } else {
            console = cnsl;
            setTimeout(main, 0);
        }
    }
    setTimeout(waitForDOM, 100);
}

}
 
function main() {
    log('console initialized');
    var connectInfo = document.location.toString();
    log('url: ' + connectInfo);
    var addressMatches = connectInfo.match(/address=([^&]*)/);
    if (addressMatches == null) {
        log('Problem extracting address!');
        return;
    }
    var address = addressMatches[1];
    log('address: ' + address);
    var portMatches = connectInfo.match(/.*&port=([^&]*)/);
    if (portMatches == null) {
        log('Problem extracting port!');
        return;
    }
    var port = portMatches[1];
    log('port: ' + port);
    document.location.toString();
 
log('creating ROSProxy connection object...');
 var connection = null;
 try {
     connection = new ros.Connection('ws://' + address + ':' + port);
    ros.Connection("ws://127.0.0.1:9090");
} catch (err) {
     log('Problem creating proxy connection object!');
     return;
 }
    log('created');
    log('connecting to ' + address + ' on port ' + port + '...');

    log('connection created');

connection.setOnClose(function (e) {
     log('connection closed');
 });
 connection.setOnError(function (e) {
     log('network error!');
 });
 connection.setOnOpen(function (e) {
     log('connected');
     log('initializing ROSProxy...');
     try {
         connection.callService('/rosjs/topics', '[]', nop);
     } catch (error) {
         log('Problem initializing ROSProxy!');
         return;
     }
     log('initialized');       
     log('running');  
     log('trying to publish a message');
     connection.publish('/recognizer/output', 'std_msgs/String', '{"data":' + '"On Page Load Message"' + '}');
 });

 
}
    </script>
  </head>
<body onload="init()">
<div id="console"></div>
<h1>Rosbridge onload="init()">
 
 
Rosbridge Test Page</h1>

This Page 

<p id="demo">This page shows how to publish messages with json over rosbridge on page load and on button click event
event</p>

<button type="button" onclick="displayDate()">Display Date</button> <button type="button" onclick="pub()">Publish String Message</button> </body> Message</button> </body> </html>

click to hide/show revision 3
No.3 Revision

updated 2018-09-24 12:11:33 -0600

130s gravatar image

<html> <head> <script type="text/javascript" src="http://brown-ros-pkg.googlecode.com/svn/tags/brown-ros-pkg/rosbridge/ros.js"></script> <script type="text/javascript"> function nop() {} /* console for logging */ var console = null;

function pub()
{
    var connection2 = new ros.Connection("ws://127.0.0.1:9090");
    connection2.setOnOpen(function (e) {
        log('connected to ros for 2nd time');
        log('attempting to send message over 2nd socket connection.');
    connection2.publish('/recognizer/output', 'std_msgs/String', '{"data":' + '"On Pub Button Click Message"' + '}');
 
'}');

    });

 
}
 
}

function displayDate()
{
    document.getElementById("demo").innerHTML=Date();
var connection3 = new ros.Connection("ws://127.0.0.1:9090");
connection3.setOnOpen(function (e) {
    log('connected to ros for 3rd time');
    log('attempting to send message over 3rd socket connection.');
connection3.publish('/recognizer/output', 'std_msgs/String', '{"data":' + '"On Display Date Button"' + '}');
 
'}');

});
}
 
}

function log(msg) {
    console.innerHTML = console.innerHTML + msg + "
";
"<br/>";
}
function init() {
    function waitForDOM() {
        var cnsl = document.getElementById('console');
        if (cnsl == null) {
            setTimeout(waitForDOM, 100);
        } else {
            console = cnsl;
            setTimeout(main, 0);
        }
    }
    setTimeout(waitForDOM, 100);
}
 
}

function main() {
    log('console initialized');
    var connectInfo = document.location.toString();
 
document.location.toString();

    log('creating ROSProxy connection object...');
 var connection = null;
 try {
     connection = new ros.Connection("ws://127.0.0.1:9090");
 } catch (err) {
     log('Problem creating proxy connection object!');
     return;
}
    }
    log('connection created');

 connection.setOnClose(function (e) {
     log('connection closed');
 });
 connection.setOnError(function (e) {
     log('network error!');
 });
 connection.setOnOpen(function (e) {
     log('connected');
     log('initializing ROSProxy...');
     try {
         connection.callService('/rosjs/topics', '[]', nop);
     } catch (error) {
         log('Problem initializing ROSProxy!');
         return;
    }
    }
        log('initialized');       
     log('running');  
     log('trying to publish a message');
     connection.publish('/recognizer/output', 'std_msgs/String', '{"data":' + '"On Page Load Message"' + '}');
 });

 
}
    </script>
  </head>
<body onload="init()">
 
 
Rosbridge onload="init()">
<div id="console"></div>
<h1>Rosbridge Test Page
 
Page</h1>

    <p id="demo">This page shows how to publish messages with json over rosbridge on page load and on button click event</p>

 
 <button type="button" onclick="displayDate()">Display Date</button>
<button type="button" onclick="pub()">Publish String Message</button> </body> </html>
 </html>
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