@lichtblick/ros1

> _Standalone TypeScript implementation of the ROS 1 (Robot Operating System) protocol with a pluggable transport layer_


Usage

``Typescript
// An example client that connects to the ROS1 turtlesim node

import { RosNode } from "@lichtblick/ros1";
import { getEnvVar, getHostname, getNetworkInterfaces, getPid, TcpSocketNode } from "@lichtblick/ros1/nodejs";
import { HttpServerNodejs } from "@lichtblick/xmlrpc/nodejs";

async function main() {
const name = "/testclient";
let rosNode: RosNode | undefined;

try {
rosNode = new RosNode({
name,
rosMasterUri: getEnvVar("ROS_MASTER_URI") ?? "http://localhost:11311/",
hostname: RosNode.GetRosHostname(getEnvVar, getHostname, getNetworkInterfaces),
pid: getPid(),
httpServer: new HttpServerNodejs(),
tcpSocketCreate: TcpSocketNode.Create,
log: console,
});

await rosNode.start();

const params = await rosNode.subscribeAllParams();
console.dir(params);

const sub = rosNode.subscribe({
topic: "/turtle1/color_sensor",
dataType: "turtlesim/Color",
});

sub.on("message", (msg, data, pub) => {
console.log(
[MSG] ${JSON.stringify(msg)} (${
data.byteLength
} bytes from ${pub.connection.getTransportInfo()}),
);
});

await new Promise((resolve) => setTimeout(resolve, 1000));

console.dir(sub.getStats());
} catch (err) {
const msg = (err as Error).stack ?? ${err};
console.error(msg);
} finally {
rosNode?.shutdown();
}
}

void main();
`

$3

yarn test

License

@lichtblick/ros1 is licensed under the MIT License.

Releasing

1. Run yarn version --[major|minor|patch] to bump version
2. Run git push && git push --tags` to push new tag
3. GitHub Actions will take care of the rest