RethinkRobotics-opensource · IanTheEngineer · May 19, 2016 · May 18, 2016
diff --git a/example.js b/example.js
@@ -7,21 +7,16 @@ const SetBool = rosnodejs.require('std_srvs').srv.SetBool;
 rosnodejs.initNode('/my_node')
 .then((rosNode) => {
   // EXP 1) Service Server
-  let service = rosNode.advertiseService({
-    service: '/set_bool',
-    type: 'std_srvs/SetBool'
-  }, (req, resp) => {
-    console.log('Handling request! ' + JSON.stringify(req));
-    resp.success = !req.data;
-    resp.message = 'Inverted!';
-    return true;
+  let service = rosNode.advertiseService('/set_bool', SetBool,
+    (req, resp) => {
+      console.log('Handling request! ' + JSON.stringify(req));
+      resp.success = !req.data;
+      resp.message = 'Inverted!';
+      return true;
   });
 
   // EXP 2) Service Client
-  let serviceClient = rosNode.serviceClient({
-    service: '/set_bool',
-    type: 'std_srvs/SetBool'
-  });
+  let serviceClient = rosNode.serviceClient('/set_bool', 'std_srvs/SetBool');
   rosNode.waitForService(serviceClient.getService(), 2000)
   .then((available) => {
     if (available) {
@@ -39,13 +34,13 @@ rosnodejs.initNode('/my_node')
   });
 
   // EXP 4) Publisher
-  let pub = rosNode.advertise({
-    topic: '/my_topic',
-    type: 'std_msgs/String',
-    queueSize: 1,
-    latching: true,
-    throttleMs: 9
-  });
+  let pub = rosNode.advertise( '/my_topic', std_msgs.String,
+    {
+      queueSize: 1,
+      latching: true,
+      throttleMs: 9
+    }
+  );
 
   let msgStart = 'my message ';
   let iter = 0;
@@ -60,12 +55,16 @@ rosnodejs.initNode('/my_node')
   }, 5);
 
   // EXP 5) Subscriber
-  let sub = rosNode.subscribe({
-    topic: '/my_topic',
-    type: 'std_msgs/String',
-    queueSize: 1,
-    throttleMs: 1000},
+  let sub = rosNode.subscribe('/my_topic', 'std_msgs/String',
     (data) => {
       console.log('SUB DATA ' + data.data);
-    });
+    },
+    {
+      queueSize: 1,
+      throttleMs: 1000
+    }
+  );
+})
+.catch((err) => {
+  console.log(err);
 });
diff --git a/example2.js b/example2.js
@@ -4,7 +4,7 @@ let rosnodejs = require('./index.js');
 // const std_msgs = rosnodejs.require('std_msgs').msg;
 // const SetBool = rosnodejs.require('std_srvs').srv.SetBool;
 
-rosnodejs.use(['std_msgs/String'], 
+rosnodejs.use(['std_msgs/String'],
               ['std_srvs/SetBool'], function() {
 
   const msg = new (rosnodejs.message('std_msgs/String'))(
@@ -14,10 +14,8 @@ rosnodejs.use(['std_msgs/String'],
     .then((rosNode) => {
 
       // EXP 1) Service Server
-      let service = rosNode.advertiseService({
-        service: '/set_bool',
-        type: 'std_srvs/SetBool'
-      }, (req, resp) => {
+      let service = rosNode.advertiseService('/set_bool','std_srvs/SetBool',
+      (req, resp) => {
         console.log('Handling request! ' + JSON.stringify(req));
         resp.success = !req.data;
         resp.message = 'Inverted!';
@@ -26,36 +24,31 @@ rosnodejs.use(['std_msgs/String'],
 
       // EXP 2) Service Client
       setTimeout(function() {
-        let serviceClient = rosNode.serviceClient({
-          service: '/set_bool',
-          type: 'std_srvs/SetBool'
-        });
+        let serviceClient = rosNode.serviceClient('/set_bool','std_srvs/SetBool');
         rosNode.waitForService(serviceClient.getService(), 2000)
           .then((available) => {
             if (available) {
-              const request = 
-                new (rosnodejs.serviceRequest('std_srvs/SetBool'))({ 
+              const request =
+                new (rosnodejs.serviceRequest('std_srvs/SetBool'))({
                   data: false });
               serviceClient.call(request, (resp) => {
                 console.log('Service response ' + JSON.stringify(resp));
               });
             } else {
-              console.log('Service not available');     
+              console.log('Service not available');
             }
           });
       }, 1000); // wait a second before calling our service
 
       // EXP 3) Params
       rosNode.setParam('~junk', {'hi': 2}).then(() => {
-        rosNode.getParam('~junk').then((val) => { 
-          console.log('Got Param!!! ' + JSON.stringify(val)); 
+        rosNode.getParam('~junk').then((val) => {
+          console.log('Got Param!!! ' + JSON.stringify(val));
         });
       });
 
       // // EXP 4) Publisher
-      let pub = rosNode.advertise({
-        topic: '/my_topic',
-        type: 'std_msgs/String',
+      let pub = rosNode.advertise('/my_topic','std_msgs/String', {
         queueSize: 1,
         latching: true,
         throttleMs: 9
@@ -73,15 +66,12 @@ rosnodejs.use(['std_msgs/String'],
       }, 5);
 
       // EXP 5) Subscriber
-      let sub = rosNode.subscribe({
-        topic: '/my_topic',
-        type: 'std_msgs/String',
-        queueSize: 1,
-        throttleMs: 1000},
+      let sub = rosNode.subscribe('/my_topic', 'std_msgs/String',
         (data) => {
           console.log('SUB DATA ', data, data.data);
-        });
+        },
+        {queueSize: 1,
+         throttleMs: 1000});
     });
-
-});
 
+});
diff --git a/index.js b/index.js
@@ -149,8 +149,10 @@ let Rosnodejs = {
   /** create message classes for all the given types */
   _useMessages(types, callback) {
     var Messages = [];
-    types.forEach(function(type) { 
+    types.forEach(function(type) {
+      console.log('get message type! ' + type);
       messages.getMessage(type, function(error, Message) {
+        console.log('got it!');
         Messages.push(Message);
         if (Messages.length === types.length) {
           callback();
@@ -162,9 +164,11 @@ let Rosnodejs = {
   /** create message classes for all the given types */
   _useServices(types, callback) {
     var count = types.length;
-    types.forEach(function(type) { 
+    types.forEach(function(type) {
+      console.log('get service type! ' + type);
       messages.getServiceRequest(type, function() {
         messages.getServiceResponse(type, function() {
+          console.log('got it!');
           if (--count == 0) {
             callback();
           }

diff --git a/lib/ActionClient.js b/lib/ActionClient.js
@@ -30,37 +30,25 @@ class ActionClient extends EventEmitter {
     const nh = rosnodejs.nh;
 
     // FIXME: support user options for these parameters
-    this._goalPub = nh.advertise({
-      topic: this._actionServer + '/goal',
-      type: this._actionType + 'Goal',
-      queueSize: 1
-    });
+    this._goalPub = nh.advertise(this._actionServer + '/goal', this._actionType + 'Goal',
+      { queueSize: 1 });
 
-    this._cancelPub = nh.advertise({
-      topic: this._actionServer + '/goal',
-      type: 'actionlib_msgs/GoalID',
-      queueSize: 1
-    });
+    this._cancelPub = nh.advertise(this._actionServer + '/cancel', 'actionlib_msgs/GoalID',
+      { queueSize: 1 });
 
-    this._statusSub = nh.subscribe({
-      topic: this._actionServer + '/status',
-      type: 'actionlib_msgs/GoalStatusArray',
-      queueSize: 1},
-      (msg) => { this._handleStatus(msg); }
+    this._statusSub = nh.subscribe(this._actionServer + '/status', 'actionlib_msgs/GoalStatusArray',
+      (msg) => { this._handleStatus(msg); },
+      { queueSize: 1 }
     );
 
-    this._feedbackSub = nh.subscribe({
-      topic: this._actionServer + '/feedback',
-      type: this._actionType + 'Feedback',
-      queueSize: 1},
-      (msg) => { this._handleFeedback(msg); }
+    this._feedbackSub = nh.subscribe(this._actionServer + '/feedback', this._actionType + 'Feedback',
+      (msg) => { this._handleFeedback(msg); },
+      { queueSize: 1 }
     );
 
-    this._statusSub = nh.subscribe({
-      topic: this._actionServer + '/result',
-      type: this._actionType + 'Result',
-      queueSize: 1},
-      (msg) => { this._handleResult(msg); }
+    this._statusSub = nh.subscribe(this._actionServer + '/result', this._actionType + 'Result',
+      (msg) => { this._handleResult(msg); },
+      { queueSize: 1 }
     );
 
     this._goals = {};

diff --git a/lib/NodeHandle.js b/lib/NodeHandle.js
@@ -18,6 +18,7 @@
 'use strict';
 
 let RosNode = require('./RosNode.js');
+const messageUtils = require('../utils/message_utils.js');
 
 class NodeHandle {
   constructor(node) {
@@ -36,52 +37,96 @@ class NodeHandle {
 // Pubs, Subs, Services
 //------------------------------------------------------------------
   /**
-   * Create a ros publisher with the provided options
-   * @param options {object}
-   * @param options.topic {string} topic to publish on ('/chatter')
-   * @param options.type {string} type of message to publish ('std_msgs/String')
-   * @param options.latching {boolean} latch messages
-   * @param options.tpcNoDelay {boolean} set TCP no delay option on Socket
-   * @param options.queueSize {number} number of messages to queue when publishing
-   * @param options.throttleMs {number} milliseconds to throttle when publishing
+   * Creates a ros publisher with the provided options
+   * @param topic {string}
+   * @param type {string|Object} string representing message type or instance
+   * @param [options] {object}
+   * @param [options.latching] {boolean} latch messages
+   * @param [options.tpcNoDelay] {boolean} set TCP no delay option on Socket
+   * @param [options.queueSize] {number} number of messages to queue when publishing
+   * @param [options.throttleMs] {number} milliseconds to throttle when publishing
    * @return {Publisher}
    */
-  advertise(options) {
+  advertise(topic, type, options) {
+    options = options || {};
+    options.topic = topic;
+    if (typeof type === 'string' || type instanceof String) {
+      options.type = type;
+      options.typeClass = messageUtils.getHandlerForMsgType(type);
+    }
+    else {
+      options.typeClass = type;
+      options.type = type.datatype();
+    }
     return this._node.advertise(options);
   }
 
   /**
-   * Create a ros subscriber with the provided options
-   * @param options {object}
-   * @param options.topic {string} topic to publish on ('/chatter')
-   * @param options.type {string} type of message to publish ('std_msgs/String')
-   * @param options.queueSize {number} number of messages to queue when subscribing
-   * @param options.throttleMs {number} milliseconds to throttle when subscribing
+   * Creates a ros subscriber with the provided options
+   * @param topic {string}
+   * @param type {string|Object} string representing message type or instance
+   * @param callback {function} function to call when message is received
+   * @param [options] {object}
+   * @param [options.queueSize] {number} number of messages to queue when subscribing
+   * @param [options.throttleMs] {number} milliseconds to throttle when subscribing
    * @return {Subscriber}
    */
-  subscribe(options, callback) {
+  subscribe(topic, type, callback, options) {
+    options = options || {};
+    options.topic = topic;
+    if (typeof type === 'string' || type instanceof String) {
+      options.type = type;
+      options.typeClass = messageUtils.getHandlerForMsgType(type);
+    }
+    else {
+      options.typeClass = type;
+      options.type = type.datatype();
+    }
     return this._node.subscribe(options, callback);
   }
 
   /**
-   * Create a ros Service server with the provided options
-   * @param options {object}
-   * @param options.service {string} service to provide e.g ('/add_two_ints')
-   * @param options.type {string} type of service ('tutorial_msgs/AddTwoInts')
+   * Creates a ros Service server with the provided options
+   * @param service {string}
+   * @param type {string|Object} string representing service type or instance
+   * @param callback {function} function to call when this service is called
+   *   e.g.
+   *     (request, response) => {
+   *       response.data = !request.data;
+   *       return true;
+   *     }
    * @return {ServiceServer}
    */
-  advertiseService(options, callback) {
+  advertiseService(service, type, callback) {
+    let options = {service: service};
+    if (typeof type === 'string' || type instanceof String) {
+      options.type = type;
+      options.typeClass = messageUtils.getHandlerForSrvType(type);
+    }
+    else {
+      options.typeClass = type;
+      // TODO: this is not terribly robust...
+      options.type = type.Request.datatype().slice('Request'.length);
+    }
     return this._node.advertiseService(options, callback);
   }
 
   /**
-   * Create a ros Service server with the provided options
-   * @param options {object}
-   * @param options.service {string} service to provide e.g ('/add_two_ints')
-   * @param options.type {string} type of service ('tutorial_msgs/AddTwoInts')
+   * Creates a ros Service client with the provided options
+   * @param service {string}
+   * @param type {string|Object} string representing service type or instance
    * @return {ServiceClient}
    */
-  serviceClient(options) {
+  serviceClient(service, type) {
+    let options = {service: service};
+    if (typeof type === 'string' || type instanceof String) {
+      options.type = type;
+      options.typeClass = messageUtils.getHandlerForSrvType(type);
+    }
+    else {
+      options.typeClass = type;
+      options.type = type.Request.datatype().slice('Request'.length);
+    }
     return this._node.serviceClient(options);
   }
 

diff --git a/lib/Publisher.js b/lib/Publisher.js
@@ -24,7 +24,6 @@ let DeserializeStream = SerializationUtils.DeserializeStream;
 let Deserialize = SerializationUtils.Deserialize;
 let Serialize = SerializationUtils.Serialize;
 let TcprosUtils = require('../utils/tcpros_utils.js');
-let messageUtils = require('../utils/message_utils.js');
 let EventEmitter = require('events');
 let log = require('../utils/logger.js');
 
@@ -80,7 +79,7 @@ class Publisher extends EventEmitter {
 
     this._server = null;
 
-    this._messageHandler = messageUtils.getHandlerForMsgType(this._type);
+    this._messageHandler = options.typeClass;
 
     // messages published before this publisher
     // was registered will be held here