通过rosbridge和roslibjs与 gauss 机械臂通信

最新推荐文章于 2024-08-10 07:25:10 发布

小弧光

最新推荐文章于 2024-08-10 07:25:10 发布

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分类专栏：机器人机械臂 ros 文章标签： ros

本文链接：https://blog.csdn.net/itfanr/article/details/87078352

版权

let ROSLIB = require('roslib');
import intl from 'react-intl-universal';
import { isLegal } from './message.type'
import { LocalStorage } from './localStorage'
import { notification } from 'antd';

let instance = null;
let reconnect = false;
/**
 *  与 ROS 进行 pub/sub 通讯工具
 *  单例模式
 *
 *  任意位置 用法：
 *      import { Networking } from './network'
 *      let network =  new Networking();
 *       //发布消息
 *       network.publish(……);
 *
 *       订阅消息
 *       let sub = network.listen('/add_two_ints','rospy_tutorials/AddTwoInts',(name,data)=>{
 *          console.log(name,data)
 *          sub.unsubscribe();
 *       })
 *
 *
 */
export class Networking {

  constructor() {
    if (!instance) {

      let t = this;
      let localStorage = new LocalStorage();
      let ip = localStorage.getItem("ip");

      instance = new ROSLIB.Ros({
        url: 'ws://' + ip + ':9090'
      });

      instance.on('connection', function () {
        console.log('Connected to websocket server.');
        instance.isConnect = true;
        notification.close('closeMsg1');
        notification.close('closeMsg2');
        reconnect = false;
        notification['success']({
          message: intl.get('