Narnia's Psychedelic Mushrooms

    node-red-contrib-ros

    1.0.9 • Public • Published

    node-red-contrib-ros

    Node-RED nodes for connecting to ROS bridge and subscribe/publish to ROS topics.

    These nodes uses roslibjs, the standard ROS Javascrip library. https://github.com/RobotWebTools/roslibjs

    install

    npm install node-red-contrib-ros

    or

    node-red-admin install node-red-contrib-ros

    configuration

    ROS server is the ROS bridge's websocket address. E.g ws://localhost:9000/

    usage

    ros-publish

    Messages sent to publish node need to conform the message type. The publish node retrieves the compiled ROS messages in your workspace. Also custom ROS message will be retrieved. You can also add a ROS timestamp in the message. Note that this is only possible if the ROS message contains a header.

    ros-subscribe

    Messages are received using the ros-subscribe node. The payload is the content of the ROS message.

    ros-time

    This node outputs a ROS time stamp. You can select two modes: 1) Timed and 2) Input. The first mode outputs the time stamp at a specific rate. The second mode outputs the time stamp when receiving an input message. In the latter mode, you can choose to add the stamp to the input message and/or to add a header with stamp to the input message.

    sample flow

    This sample flow is outdated

    [{"id":"b4238dd8.4de73","type":"tab","label":"Test ROS","disabled":false,"info":""},{"id":"bea48291.f1bba","type":"ros-subscribe","z":"b4238dd8.4de73","server":"ee3330f0.5c8af","topicname":"/st","x":170,"y":145,"wires":[["438e6d48.a9cc4c"]]},{"id":"438e6d48.a9cc4c","type":"debug","z":"b4238dd8.4de73","name":"","active":true,"console":"false","complete":"true","x":330,"y":145,"wires":[]},{"id":"11d3437d.505b0d","type":"ros-time","z":"b4238dd8.4de73","mode":"Timed","sampletime":"1","addstamp2input":false,"addheader2input":false,"x":175,"y":75,"wires":[["ab7795ef.fc3b88"]]},{"id":"ab7795ef.fc3b88","type":"debug","z":"b4238dd8.4de73","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"true","targetType":"full","x":330,"y":75,"wires":[]},{"id":"b4340ad8.57b428","type":"inject","z":"b4238dd8.4de73","name":"","topic":"","payload":"{\"header\":{\"seq\":0,\"stamp\":{\"secs\":0,\"nsecs\":0},\"frame_id\":\"\"},\"status\":{\"status\":0,\"service\":0},\"latitude\":0,\"longitude\":0,\"altitude\":0,\"position_covariance\":[0,0,0,0,0,0,0,0,0],\"position_covariance_type\":0}","payloadType":"json","repeat":"","crontab":"","once":true,"onceDelay":"1","x":105,"y":280,"wires":[["34001ee9.1da0ba","c3be5e3.251c62"]]},{"id":"34001ee9.1da0ba","type":"function","z":"b4238dd8.4de73","name":"set lon lat","func":"msg.payload.latitude = 49.083205;\nmsg.payload.longitude = -35.762847;\nreturn msg;","outputs":1,"noerr":0,"x":300,"y":280,"wires":[["3bf5134f.4a5e1c","3d6dceba.8efd22"]]},{"id":"c3be5e3.251c62","type":"ros-time","z":"b4238dd8.4de73","mode":"On input","sampletime":"20","addstamp2input":false,"addheader2input":true,"x":310,"y":220,"wires":[["e00fcb25.98a55"]]},{"id":"3bf5134f.4a5e1c","type":"ros-publish","z":"b4238dd8.4de73","server":"72fc6571.2d53c4","topicname":"/gps/fix","typepackage":"sensor_msgs","typename":"NavSatFix","stampheader":true,"x":520,"y":280,"wires":[]},{"id":"3d6dceba.8efd22","type":"debug","z":"b4238dd8.4de73","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"true","targetType":"full","x":510,"y":225,"wires":[]},{"id":"e00fcb25.98a55","type":"debug","z":"b4238dd8.4de73","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"true","targetType":"full","x":510,"y":185,"wires":[]},{"id":"ee3330f0.5c8af","type":"ros-server","z":"b4238dd8.4de73","url":"ws://localhost:9090/"},{"id":"72fc6571.2d53c4","type":"ros-server","z":"","url":"ws://0.0.0.0:9090"}]

    Keywords

    Install

    npm i node-red-contrib-ros

    DownloadsWeekly Downloads

    28

    Version

    1.0.9

    License

    MIT

    Unpacked Size

    26.4 kB

    Total Files

    12

    Last publish

    Collaborators

    • avatar
    • avatar