-
diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue
index cfe7267..90687ec 100644
--- a/src/components/Navbar.vue
+++ b/src/components/Navbar.vue
@@ -1,7 +1,6 @@
+
-
+
diff --git a/src/components/PublishTesterComponent.vue b/src/components/PublishTesterComponent.vue
index 02ad403..5e36f47 100644
--- a/src/components/PublishTesterComponent.vue
+++ b/src/components/PublishTesterComponent.vue
@@ -6,13 +6,13 @@ import type { TopicType } from '@/lib/roslibUtils/rosTypes';
// Define the message types
const messageTypes = [
- 'std_msgs/Int32',
- 'std_msgs/Bool',
- 'std_msgs/String',
- 'std_msgs/Char',
- 'std_msgs/Float32',
- 'std_msgs/Time',
- 'sensor_msgs/msg/CompressedImage',
+ 'std_msgs/Int32',
+ 'std_msgs/Bool',
+ 'std_msgs/String',
+ 'std_msgs/Char',
+ 'std_msgs/Float32',
+ 'std_msgs/Time',
+ 'sensor_msgs/msg/CompressedImage',
];
const topicNameInput = ref('');
@@ -22,160 +22,166 @@ const customMessageType = ref('');
const receivedMessage = ref('');
const messageTypeID = computed(() => {
- let idx = messageTypes.indexOf(messageTypeInput.value);
- if (idx === -1) idx = messageTypes.length; // Custom input index
- return idx;
+ let idx = messageTypes.indexOf(messageTypeInput.value);
+ if (idx === -1) idx = messageTypes.length; // Custom input index
+ return idx;
});
function convertMessage(topicType: string, message: string) {
- switch (topicType) {
- case 'std_msgs/Int32':
- return { data: parseInt(message) };
- case 'std_msgs/Bool':
- return { data: message.toLowerCase() === 'true' };
- case 'std_msgs/String':
- return { data: message };
- case 'std_msgs/Char':
- return { data: message.charAt(0) };
- case 'std_msgs/Float32':
- return { data: parseFloat(message) };
- case 'std_msgs/Time':
- return { data: new Date(message).toISOString() };
- case 'sensor_msgs/msg/CompressedImage':
- return { data: message }; // Assuming the message is a base64 encoded string
- default:
- return { data: message };
- }
+ switch (topicType) {
+ case 'std_msgs/Int32':
+ return { data: parseInt(message) };
+ case 'std_msgs/Bool':
+ return { data: message.toLowerCase() === 'true' };
+ case 'std_msgs/String':
+ return { data: message };
+ case 'std_msgs/Char':
+ return { data: message.charAt(0) };
+ case 'std_msgs/Float32':
+ return { data: parseFloat(message) };
+ case 'std_msgs/Time':
+ return { data: new Date(message).toISOString() };
+ case 'sensor_msgs/msg/CompressedImage':
+ return { data: message }; // Assuming the message is a base64 encoded string
+ default:
+ return { data: message };
+ }
}
function publishTest() {
- const topicName = topicNameInput.value;
- const topicType =
- messageTypeID.value === messageTypes.length ? customMessageType.value : messageTypeInput.value;
- const topicMessage = convertMessage(topicType, dataInput.value);
-
- if (topicName && topicType && topicMessage) {
- const testPublisher = createPublisher({
- topicName: topicName,
- topicType: topicType as TopicType,
- });
-
- const testSubscriber = createSubscriber({
- topicName: topicName,
- topicType: topicType as TopicType,
- });
-
- testSubscriber.start({
- callback: (message) => {
- receivedMessage.value = JSON.stringify(message);
- },
- });
-
- testPublisher.publish(topicMessage);
- } else {
- alert('Please fill in all fields.');
- }
+ const topicName = topicNameInput.value;
+ const topicType =
+ messageTypeID.value === messageTypes.length
+ ? customMessageType.value
+ : messageTypeInput.value;
+ const topicMessage = convertMessage(topicType, dataInput.value);
+
+ if (topicName && topicType && topicMessage) {
+ const testPublisher = createPublisher({
+ topicName: topicName,
+ topicType: topicType as TopicType,
+ });
+
+ const testSubscriber = createSubscriber({
+ topicName: topicName,
+ topicType: topicType as TopicType,
+ });
+
+ testSubscriber.start({
+ callback: (message) => {
+ receivedMessage.value = JSON.stringify(message);
+ },
+ });
+
+ testPublisher.publish(topicMessage);
+ } else {
+ alert('Please fill in all fields.');
+ }
}
- Example Data:
-- {{ example.helloWorldSub.msg?.data }} -
+
+
-
-
-
-
-
+
+
+
+
+
Example Data:
++ {{ example.helloWorldSub.msg?.data }} +
+
-
+ Test Publisher
- -
+
diff --git a/src/components/arm/ArmModeSelection.vue b/src/components/arm/ArmModeSelection.vue
index 1487d15..7ae2f6f 100644
--- a/src/components/arm/ArmModeSelection.vue
+++ b/src/components/arm/ArmModeSelection.vue
@@ -22,100 +22,100 @@ let current_arm_mode = ref(-1); // Default is disabled
// let isLoaded = ref(false);
function initialize() {
- armModeService = new ROSLIB.Service({
- ros: roslib.ros,
- name: '/get_arm_mode',
- serviceType: 'ArmMode',
- });
+ armModeService = new ROSLIB.Service({
+ ros: roslib.ros,
+ name: '/get_arm_mode',
+ serviceType: 'ArmMode',
+ });
- getCurrentArmMode();
+ getCurrentArmMode();
}
function getCurrentArmMode() {
- var request = {
- //Dummy data for now
- input: 1,
- };
+ var request = {
+ //Dummy data for now
+ input: 1,
+ };
- armModeService.callService(request, function (result) {
- console.log('Result from service ' + result.current_mode);
- current_arm_mode.value = result.current_mode;
- //isLoaded.value = true
- });
+ armModeService.callService(request, function (result) {
+ console.log('Result from service ' + result.current_mode);
+ current_arm_mode.value = result.current_mode;
+ //isLoaded.value = true
+ });
}
function changeArmMode(targetMode: number) {
- console.log('Target mode wanted' + targetMode);
- const armModePublish = createPublisher({
- topicName: 'update_arm_mode',
- topicType: 'std_msgs/Int32',
- });
- armModePublish.publish({ data: targetMode });
- getCurrentArmMode();
+ console.log('Target mode wanted' + targetMode);
+ const armModePublish = createPublisher({
+ topicName: 'update_arm_mode',
+ topicType: 'std_msgs/Int32',
+ });
+ armModePublish.publish({ data: targetMode });
+ getCurrentArmMode();
}
- Test Publisher
+ +
-
diff --git a/src/components/arm/ArmModel.vue b/src/components/arm/ArmModel.vue
index 257252e..fecbff9 100644
--- a/src/components/arm/ArmModel.vue
+++ b/src/components/arm/ArmModel.vue
@@ -12,7 +12,7 @@ const elbow = scene.getObjectByName('Elbow') as Bone;
const turntable = scene.getObjectByName('Turntable') as Bone;
function degreesToRadians(degrees: number): number {
- return degrees * (Math.PI / 180);
+ return degrees * (Math.PI / 180);
}
//default rotations on the 3d model
@@ -22,39 +22,39 @@ const elbowDefault = degreesToRadians(153.65);
const turntableDefault = degreesToRadians(-37.76);
useTelemetryData(
- [CanBusID.ArmShoulder, CanBusID.ArmElbow, CanBusID.ArmTurntable],
- (data) => data.position,
- null,
- {
- armShoulder: (position) => {
- // Multiply the telemetry fraction by 2π to get the incoming additional radians.
- const additionalShoulderRotation = position * -2 * Math.PI;
- // The final rotation equals the default plus the telemetry offset.
- const shoulderRotation = shoulderDefault + additionalShoulderRotation;
- shoulder.rotation.x = shoulderRotation;
+ [CanBusID.ArmShoulder, CanBusID.ArmElbow, CanBusID.ArmTurntable],
+ (data) => data.position,
+ null,
+ {
+ armShoulder: (position) => {
+ // Multiply the telemetry fraction by 2π to get the incoming additional radians.
+ const additionalShoulderRotation = position * -2 * Math.PI;
+ // The final rotation equals the default plus the telemetry offset.
+ const shoulderRotation = shoulderDefault + additionalShoulderRotation;
+ shoulder.rotation.x = shoulderRotation;
+ },
+ armElbow: (position) => {
+ const additionalElbowRotation = position * 2 * Math.PI;
+ const elbowRotation = elbowDefault + additionalElbowRotation;
+ elbow.rotation.x = elbowRotation;
+ },
+ armTurntable: (position) => {
+ const additionalTurntableRotation = position * 2 * Math.PI;
+ const turntableRotation = turntableDefault + additionalTurntableRotation;
+ turntable.rotation.x = turntableRotation;
+ },
},
- armElbow: (position) => {
- const additionalElbowRotation = position * 2 * Math.PI;
- const elbowRotation = elbowDefault + additionalElbowRotation;
- elbow.rotation.x = elbowRotation;
- },
- armTurntable: (position) => {
- const additionalTurntableRotation = position * 2 * Math.PI;
- const turntableRotation = turntableDefault + additionalTurntableRotation;
- turntable.rotation.x = turntableRotation;
- },
- },
);
- ();
const blackImage =
- 'data:image/jpg;base64,/9j/4AAQSkZJRgABAQEASABIAAD/2wBDAAMCAgMCAgMDAwMEAwMEBQgFBQQEBQoHBwYIDAoMDAsKCwsNDhIQDQ4RDgsLEBYQERMUFRUVDA8XGBYUGBIUFRT/wAALCAABAAEBAREA/8QAFAABAAAAAAAAAAAAAAAAAAAACf/EABQQAQAAAAAAAAAAAAAAAAAAAAD/2gAIAQEAAD8AKp//2Q==';
+ 'data:image/jpg;base64,/9j/4AAQSkZJRgABAQEASABIAAD/2wBDAAMCAgMCAgMDAwMEAwMEBQgFBQQEBQoHBwYIDAoMDAsKCwsNDhIQDQ4RDgsLEBYQERMUFRUVDA8XGBYUGBIUFRT/wAALCAABAAEBAREA/8QAFAABAAAAAAAAAAAAAAAAAAAACf/EABQQAQAAAAAAAAAAAAAAAAAAAAD/2gAIAQEAAD8AKp//2Q==';
const cameraSub = createSubscriber({
- topicName: `video_frames${props.cameraId}`,
- topicType: 'sensor_msgs/msg/CompressedImage',
+ topicName: `video_frames${props.cameraId}`,
+ topicType: 'sensor_msgs/msg/CompressedImage',
});
const cameraSubURL = ref(blackImage);
function cameraCallback(message: CompressedImage) {
- const blob = new Blob([message.data], { type: 'image/' + message.format });
- cameraSubURL.value = URL.createObjectURL(blob);
+ const blob = new Blob([message.data], { type: 'image/' + message.format });
+ cameraSubURL.value = URL.createObjectURL(blob);
}
const onAndOffHandler = () => {
- if (cameraSub.isOn.value) {
- cameraSub.stop();
- } else {
- cameraSub.start({ callback: cameraCallback });
- }
+ if (cameraSub.isOn.value) {
+ cameraSub.stop();
+ } else {
+ cameraSub.start({ callback: cameraCallback });
+ }
};
onMounted(() => {
- cameraSub.start({ callback: cameraCallback });
+ cameraSub.start({ callback: cameraCallback });
});
- (null);
const map = shallowRef
-
-
-
+
+
+
+
diff --git a/src/components/camera/CameraModule.vue b/src/components/camera/CameraModule.vue
index 46a1c01..03ba4b3 100644
--- a/src/components/camera/CameraModule.vue
+++ b/src/components/camera/CameraModule.vue
@@ -4,78 +4,78 @@ import { onMounted, ref } from 'vue';
import type { CompressedImage } from '@/lib/roslibUtils/rosTypes';
export interface CameraModuleProps {
- cameraId: number;
- cameraName: string;
+ cameraId: number;
+ cameraName: string;
}
const props = defineProps
- ![]()
-
-
+ {{ props.cameraName }}
-FPS:
-
+ ![]()
+
+
diff --git a/src/components/map/InteractiveMap.vue b/src/components/map/InteractiveMap.vue
index a9594b6..499a562 100644
--- a/src/components/map/InteractiveMap.vue
+++ b/src/components/map/InteractiveMap.vue
@@ -7,19 +7,19 @@ const mapContainer = shallowRef