sun.misc.Encoder()/Decoder().String this
+ * version is about three times as fast due to the fact that the Commons Codec result has to be recoded
+ * to a String from byte[], which is very expensive.sun.misc.Encoder()/Decoder() produce temporary arrays but since performance
+ * is quite low it probably does.char[] representation i accordance with RFC 2045.
+ * @param sArr The bytes to convert. If null or length 0 an empty array will be returned.
+ * @param lineSep Optional "\r\n" after 76 characters, unless end of file.null.
+ */
+ public final static char[] encodeToChar(byte[] sArr, boolean lineSep)
+ {
+ // Check special case
+ int sLen = sArr != null ? sArr.length : 0;
+ if (sLen == 0)
+ return new char[0];
+
+ int eLen = (sLen / 3) * 3; // Length of even 24-bits.
+ int cCnt = ((sLen - 1) / 3 + 1) << 2; // Returned character count
+ int dLen = cCnt + (lineSep ? (cCnt - 1) / 76 << 1 : 0); // Length of returned array
+ char[] dArr = new char[dLen];
+
+ // Encode even 24-bits
+ for (int s = 0, d = 0, cc = 0; s < eLen;) {
+ // Copy next three bytes into lower 24 bits of int, paying attension to sign.
+ int i = (sArr[s++] & 0xff) << 16 | (sArr[s++] & 0xff) << 8 | (sArr[s++] & 0xff);
+
+ // Encode the int into four chars
+ dArr[d++] = CA[(i >>> 18) & 0x3f];
+ dArr[d++] = CA[(i >>> 12) & 0x3f];
+ dArr[d++] = CA[(i >>> 6) & 0x3f];
+ dArr[d++] = CA[i & 0x3f];
+
+ // Add optional line separator
+ if (lineSep && ++cc == 19 && d < dLen - 2) {
+ dArr[d++] = '\r';
+ dArr[d++] = '\n';
+ cc = 0;
+ }
+ }
+
+ // Pad and encode last bits if source isn't even 24 bits.
+ int left = sLen - eLen; // 0 - 2.
+ if (left > 0) {
+ // Prepare the int
+ int i = ((sArr[eLen] & 0xff) << 10) | (left == 2 ? ((sArr[sLen - 1] & 0xff) << 2) : 0);
+
+ // Set last four chars
+ dArr[dLen - 4] = CA[i >> 12];
+ dArr[dLen - 3] = CA[(i >>> 6) & 0x3f];
+ dArr[dLen - 2] = left == 2 ? CA[i & 0x3f] : '=';
+ dArr[dLen - 1] = '=';
+ }
+ return dArr;
+ }
+
+ /** Decodes a BASE64 encoded char array. All illegal characters will be ignored and can handle both arrays with
+ * and without line separators.
+ * @param sArr The source array. null or length 0 will return an empty array.
+ * @return The decoded array of bytes. May be of length 0. Will be null if the legal characters
+ * (including '=') isn't divideable by 4. (I.e. definitely corrupted).
+ */
+ public final static byte[] decode(char[] sArr)
+ {
+ // Check special case
+ int sLen = sArr != null ? sArr.length : 0;
+ if (sLen == 0)
+ return new byte[0];
+
+ // Count illegal characters (including '\r', '\n') to know what size the returned array will be,
+ // so we don't have to reallocate & copy it later.
+ int sepCnt = 0; // Number of separator characters. (Actually illegal characters, but that's a bonus...)
+ for (int i = 0; i < sLen; i++) // If input is "pure" (I.e. no line separators or illegal chars) base64 this loop can be commented out.
+ if (IA[sArr[i]] < 0)
+ sepCnt++;
+
+ // Check so that legal chars (including '=') are evenly divideable by 4 as specified in RFC 2045.
+ if ((sLen - sepCnt) % 4 != 0)
+ return null;
+
+ int pad = 0;
+ for (int i = sLen; i > 1 && IA[sArr[--i]] <= 0;)
+ if (sArr[i] == '=')
+ pad++;
+
+ int len = ((sLen - sepCnt) * 6 >> 3) - pad;
+
+ byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
+
+ for (int s = 0, d = 0; d < len;) {
+ // Assemble three bytes into an int from four "valid" characters.
+ int i = 0;
+ for (int j = 0; j < 4; j++) { // j only increased if a valid char was found.
+ int c = IA[sArr[s++]];
+ if (c >= 0)
+ i |= c << (18 - j * 6);
+ else
+ j--;
+ }
+ // Add the bytes
+ dArr[d++] = (byte) (i >> 16);
+ if (d < len) {
+ dArr[d++]= (byte) (i >> 8);
+ if (d < len)
+ dArr[d++] = (byte) i;
+ }
+ }
+ return dArr;
+ }
+
+ /** Decodes a BASE64 encoded char array that is known to be resonably well formatted. The method is about twice as
+ * fast as {@link #decode(char[])}. The preconditions are:null will throw an exception.
+ * @return The decoded array of bytes. May be of length 0.
+ */
+ public final static byte[] decodeFast(char[] sArr)
+ {
+ // Check special case
+ int sLen = sArr.length;
+ if (sLen == 0)
+ return new byte[0];
+
+ int sIx = 0, eIx = sLen - 1; // Start and end index after trimming.
+
+ // Trim illegal chars from start
+ while (sIx < eIx && IA[sArr[sIx]] < 0)
+ sIx++;
+
+ // Trim illegal chars from end
+ while (eIx > 0 && IA[sArr[eIx]] < 0)
+ eIx--;
+
+ // get the padding count (=) (0, 1 or 2)
+ int pad = sArr[eIx] == '=' ? (sArr[eIx - 1] == '=' ? 2 : 1) : 0; // Count '=' at end.
+ int cCnt = eIx - sIx + 1; // Content count including possible separators
+ int sepCnt = sLen > 76 ? (sArr[76] == '\r' ? cCnt / 78 : 0) << 1 : 0;
+
+ int len = ((cCnt - sepCnt) * 6 >> 3) - pad; // The number of decoded bytes
+ byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
+
+ // Decode all but the last 0 - 2 bytes.
+ int d = 0;
+ for (int cc = 0, eLen = (len / 3) * 3; d < eLen;) {
+ // Assemble three bytes into an int from four "valid" characters.
+ int i = IA[sArr[sIx++]] << 18 | IA[sArr[sIx++]] << 12 | IA[sArr[sIx++]] << 6 | IA[sArr[sIx++]];
+
+ // Add the bytes
+ dArr[d++] = (byte) (i >> 16);
+ dArr[d++] = (byte) (i >> 8);
+ dArr[d++] = (byte) i;
+
+ // If line separator, jump over it.
+ if (sepCnt > 0 && ++cc == 19) {
+ sIx += 2;
+ cc = 0;
+ }
+ }
+
+ if (d < len) {
+ // Decode last 1-3 bytes (incl '=') into 1-3 bytes
+ int i = 0;
+ for (int j = 0; sIx <= eIx - pad; j++)
+ i |= IA[sArr[sIx++]] << (18 - j * 6);
+
+ for (int r = 16; d < len; r -= 8)
+ dArr[d++] = (byte) (i >> r);
+ }
+
+ return dArr;
+ }
+
+ // ****************************************************************************************
+ // * byte[] version
+ // ****************************************************************************************
+
+ /** Encodes a raw byte array into a BASE64 byte[] representation i accordance with RFC 2045.
+ * @param sArr The bytes to convert. If null or length 0 an empty array will be returned.
+ * @param lineSep Optional "\r\n" after 76 characters, unless end of file.null.
+ */
+ public final static byte[] encodeToByte(byte[] sArr, boolean lineSep)
+ {
+ // Check special case
+ int sLen = sArr != null ? sArr.length : 0;
+ if (sLen == 0)
+ return new byte[0];
+
+ int eLen = (sLen / 3) * 3; // Length of even 24-bits.
+ int cCnt = ((sLen - 1) / 3 + 1) << 2; // Returned character count
+ int dLen = cCnt + (lineSep ? (cCnt - 1) / 76 << 1 : 0); // Length of returned array
+ byte[] dArr = new byte[dLen];
+
+ // Encode even 24-bits
+ for (int s = 0, d = 0, cc = 0; s < eLen;) {
+ // Copy next three bytes into lower 24 bits of int, paying attension to sign.
+ int i = (sArr[s++] & 0xff) << 16 | (sArr[s++] & 0xff) << 8 | (sArr[s++] & 0xff);
+
+ // Encode the int into four chars
+ dArr[d++] = (byte) CA[(i >>> 18) & 0x3f];
+ dArr[d++] = (byte) CA[(i >>> 12) & 0x3f];
+ dArr[d++] = (byte) CA[(i >>> 6) & 0x3f];
+ dArr[d++] = (byte) CA[i & 0x3f];
+
+ // Add optional line separator
+ if (lineSep && ++cc == 19 && d < dLen - 2) {
+ dArr[d++] = '\r';
+ dArr[d++] = '\n';
+ cc = 0;
+ }
+ }
+
+ // Pad and encode last bits if source isn't an even 24 bits.
+ int left = sLen - eLen; // 0 - 2.
+ if (left > 0) {
+ // Prepare the int
+ int i = ((sArr[eLen] & 0xff) << 10) | (left == 2 ? ((sArr[sLen - 1] & 0xff) << 2) : 0);
+
+ // Set last four chars
+ dArr[dLen - 4] = (byte) CA[i >> 12];
+ dArr[dLen - 3] = (byte) CA[(i >>> 6) & 0x3f];
+ dArr[dLen - 2] = left == 2 ? (byte) CA[i & 0x3f] : (byte) '=';
+ dArr[dLen - 1] = '=';
+ }
+ return dArr;
+ }
+
+ /** Decodes a BASE64 encoded byte array. All illegal characters will be ignored and can handle both arrays with
+ * and without line separators.
+ * @param sArr The source array. Length 0 will return an empty array. null will throw an exception.
+ * @return The decoded array of bytes. May be of length 0. Will be null if the legal characters
+ * (including '=') isn't divideable by 4. (I.e. definitely corrupted).
+ */
+ public final static byte[] decode(byte[] sArr)
+ {
+ // Check special case
+ int sLen = sArr.length;
+
+ // Count illegal characters (including '\r', '\n') to know what size the returned array will be,
+ // so we don't have to reallocate & copy it later.
+ int sepCnt = 0; // Number of separator characters. (Actually illegal characters, but that's a bonus...)
+ for (int i = 0; i < sLen; i++) // If input is "pure" (I.e. no line separators or illegal chars) base64 this loop can be commented out.
+ if (IA[sArr[i] & 0xff] < 0)
+ sepCnt++;
+
+ // Check so that legal chars (including '=') are evenly divideable by 4 as specified in RFC 2045.
+ if ((sLen - sepCnt) % 4 != 0)
+ return null;
+
+ int pad = 0;
+ for (int i = sLen; i > 1 && IA[sArr[--i] & 0xff] <= 0;)
+ if (sArr[i] == '=')
+ pad++;
+
+ int len = ((sLen - sepCnt) * 6 >> 3) - pad;
+
+ byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
+
+ for (int s = 0, d = 0; d < len;) {
+ // Assemble three bytes into an int from four "valid" characters.
+ int i = 0;
+ for (int j = 0; j < 4; j++) { // j only increased if a valid char was found.
+ int c = IA[sArr[s++] & 0xff];
+ if (c >= 0)
+ i |= c << (18 - j * 6);
+ else
+ j--;
+ }
+
+ // Add the bytes
+ dArr[d++] = (byte) (i >> 16);
+ if (d < len) {
+ dArr[d++]= (byte) (i >> 8);
+ if (d < len)
+ dArr[d++] = (byte) i;
+ }
+ }
+
+ return dArr;
+ }
+
+
+ /** Decodes a BASE64 encoded byte array that is known to be resonably well formatted. The method is about twice as
+ * fast as {@link #decode(byte[])}. The preconditions are:null will throw an exception.
+ * @return The decoded array of bytes. May be of length 0.
+ */
+ public final static byte[] decodeFast(byte[] sArr)
+ {
+ // Check special case
+ int sLen = sArr.length;
+ if (sLen == 0)
+ return new byte[0];
+
+ int sIx = 0, eIx = sLen - 1; // Start and end index after trimming.
+
+ // Trim illegal chars from start
+ while (sIx < eIx && IA[sArr[sIx] & 0xff] < 0)
+ sIx++;
+
+ // Trim illegal chars from end
+ while (eIx > 0 && IA[sArr[eIx] & 0xff] < 0)
+ eIx--;
+
+ // get the padding count (=) (0, 1 or 2)
+ int pad = sArr[eIx] == '=' ? (sArr[eIx - 1] == '=' ? 2 : 1) : 0; // Count '=' at end.
+ int cCnt = eIx - sIx + 1; // Content count including possible separators
+ int sepCnt = sLen > 76 ? (sArr[76] == '\r' ? cCnt / 78 : 0) << 1 : 0;
+
+ int len = ((cCnt - sepCnt) * 6 >> 3) - pad; // The number of decoded bytes
+ byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
+
+ // Decode all but the last 0 - 2 bytes.
+ int d = 0;
+ for (int cc = 0, eLen = (len / 3) * 3; d < eLen;) {
+ // Assemble three bytes into an int from four "valid" characters.
+ int i = IA[sArr[sIx++]] << 18 | IA[sArr[sIx++]] << 12 | IA[sArr[sIx++]] << 6 | IA[sArr[sIx++]];
+
+ // Add the bytes
+ dArr[d++] = (byte) (i >> 16);
+ dArr[d++] = (byte) (i >> 8);
+ dArr[d++] = (byte) i;
+
+ // If line separator, jump over it.
+ if (sepCnt > 0 && ++cc == 19) {
+ sIx += 2;
+ cc = 0;
+ }
+ }
+
+ if (d < len) {
+ // Decode last 1-3 bytes (incl '=') into 1-3 bytes
+ int i = 0;
+ for (int j = 0; sIx <= eIx - pad; j++)
+ i |= IA[sArr[sIx++]] << (18 - j * 6);
+
+ for (int r = 16; d < len; r -= 8)
+ dArr[d++] = (byte) (i >> r);
+ }
+
+ return dArr;
+ }
+
+ // ****************************************************************************************
+ // * String version
+ // ****************************************************************************************
+
+ /** Encodes a raw byte array into a BASE64 String representation i accordance with RFC 2045.
+ * @param sArr The bytes to convert. If null or length 0 an empty array will be returned.
+ * @param lineSep Optional "\r\n" after 76 characters, unless end of file.null.
+ */
+ public final static String encodeToString(byte[] sArr, boolean lineSep)
+ {
+ // Reuse char[] since we can't create a String incrementally anyway and StringBuffer/Builder would be slower.
+ return new String(encodeToChar(sArr, lineSep));
+ }
+
+ /** Decodes a BASE64 encoded String. All illegal characters will be ignored and can handle both strings with
+ * and without line separators.decode(str.toCharArray()) instead. That
+ * will create a temporary array though. This version will use str.charAt(i) to iterate the string.
+ * @param str The source string. null or length 0 will return an empty array.
+ * @return The decoded array of bytes. May be of length 0. Will be null if the legal characters
+ * (including '=') isn't divideable by 4. (I.e. definitely corrupted).
+ */
+ public final static byte[] decode(String str)
+ {
+ // Check special case
+ int sLen = str != null ? str.length() : 0;
+ if (sLen == 0)
+ return new byte[0];
+
+ // Count illegal characters (including '\r', '\n') to know what size the returned array will be,
+ // so we don't have to reallocate & copy it later.
+ int sepCnt = 0; // Number of separator characters. (Actually illegal characters, but that's a bonus...)
+ for (int i = 0; i < sLen; i++) // If input is "pure" (I.e. no line separators or illegal chars) base64 this loop can be commented out.
+ if (IA[str.charAt(i)] < 0)
+ sepCnt++;
+
+ // Check so that legal chars (including '=') are evenly divideable by 4 as specified in RFC 2045.
+ if ((sLen - sepCnt) % 4 != 0)
+ return null;
+
+ // Count '=' at end
+ int pad = 0;
+ for (int i = sLen; i > 1 && IA[str.charAt(--i)] <= 0;)
+ if (str.charAt(i) == '=')
+ pad++;
+
+ int len = ((sLen - sepCnt) * 6 >> 3) - pad;
+
+ byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
+
+ for (int s = 0, d = 0; d < len;) {
+ // Assemble three bytes into an int from four "valid" characters.
+ int i = 0;
+ for (int j = 0; j < 4; j++) { // j only increased if a valid char was found.
+ int c = IA[str.charAt(s++)];
+ if (c >= 0)
+ i |= c << (18 - j * 6);
+ else
+ j--;
+ }
+ // Add the bytes
+ dArr[d++] = (byte) (i >> 16);
+ if (d < len) {
+ dArr[d++]= (byte) (i >> 8);
+ if (d < len)
+ dArr[d++] = (byte) i;
+ }
+ }
+ return dArr;
+ }
+
+ /** Decodes a BASE64 encoded string that is known to be resonably well formatted. The method is about twice as
+ * fast as {@link #decode(String)}. The preconditions are:null will throw an exception.
+ * @return The decoded array of bytes. May be of length 0.
+ */
+ public final static byte[] decodeFast(String s)
+ {
+ // Check special case
+ int sLen = s.length();
+ if (sLen == 0)
+ return new byte[0];
+
+ int sIx = 0, eIx = sLen - 1; // Start and end index after trimming.
+
+ // Trim illegal chars from start
+ while (sIx < eIx && IA[s.charAt(sIx) & 0xff] < 0)
+ sIx++;
+
+ // Trim illegal chars from end
+ while (eIx > 0 && IA[s.charAt(eIx) & 0xff] < 0)
+ eIx--;
+
+ // get the padding count (=) (0, 1 or 2)
+ int pad = s.charAt(eIx) == '=' ? (s.charAt(eIx - 1) == '=' ? 2 : 1) : 0; // Count '=' at end.
+ int cCnt = eIx - sIx + 1; // Content count including possible separators
+ int sepCnt = sLen > 76 ? (s.charAt(76) == '\r' ? cCnt / 78 : 0) << 1 : 0;
+
+ int len = ((cCnt - sepCnt) * 6 >> 3) - pad; // The number of decoded bytes
+ byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
+
+ // Decode all but the last 0 - 2 bytes.
+ int d = 0;
+ for (int cc = 0, eLen = (len / 3) * 3; d < eLen;) {
+ // Assemble three bytes into an int from four "valid" characters.
+ int i = IA[s.charAt(sIx++)] << 18 | IA[s.charAt(sIx++)] << 12 | IA[s.charAt(sIx++)] << 6 | IA[s.charAt(sIx++)];
+
+ // Add the bytes
+ dArr[d++] = (byte) (i >> 16);
+ dArr[d++] = (byte) (i >> 8);
+ dArr[d++] = (byte) i;
+
+ // If line separator, jump over it.
+ if (sepCnt > 0 && ++cc == 19) {
+ sIx += 2;
+ cc = 0;
+ }
+ }
+
+ if (d < len) {
+ // Decode last 1-3 bytes (incl '=') into 1-3 bytes
+ int i = 0;
+ for (int j = 0; sIx <= eIx - pad; j++)
+ i |= IA[s.charAt(sIx++)] << (18 - j * 6);
+
+ for (int r = 16; d < len; r -= 8)
+ dArr[d++] = (byte) (i >> r);
+ }
+
+ return dArr;
+ }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/JSON.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/JSON.java
new file mode 100644
index 0000000..67a3d0b
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/JSON.java
@@ -0,0 +1,335 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.implementation;
+
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.rosbridge.indication.Indication;
+import com.example.testdemo.ros.rosbridge.operation.Wrapper;
+import jdk.nashorn.internal.parser.JSONParser;
+
+
+import java.io.StringReader;
+import java.lang.reflect.Array;
+import java.lang.reflect.Field;
+
+
+// The slightly crazy abstractions here are designed to isolate knowledge of
+// the JSON library and data types from the Operation details of rosbridge.
+// Why is this important? A few reasons I can see. First, we might want
+// to change JSON libraries and this encapsulates all use of JSON-simple.
+// Second, as much as possible I would like the semantics of the rosbridge
+// protocol to be encapsulated in the Operation and its subclasses rather
+// than in a module that is essentially about serialization.
+//
+// Unfortunately the hierarchical Message abstraction is a bit broken
+// at the top level. Beginning at the actual operation (e.g., Publish), the
+// types of the fields are determined either by the fields themselves or by
+// an indicator. However, the type of the operation itself is not determined
+// this way, because the indicator is in the object itself, which means it
+// would have to be created before its type is known. Rather than build in
+// exceptions, I elected to create a "Wrapper" operation type that simply
+// wraps the concrete operation and copies its "op" field.
+//
+
+public class JSON {
+
+ /**
+ * Translates a Message recursively into JSON. Normally the Message is also an
+ * Operation, but it does not have to be. The caller constructs a complete
+ * message using @Operation and @Message types. This includes situations
+ * where one or more fields are marked to be turned into arrays, using @AsArray.
+ * @param m the @Message object to be recursively translated.
+ * @return the complete JSON string.
+ */
+ public static String toJSON(Message m) {
+ JSONObject jo = convertObjectToJSONObject(m); // Object to JSON-Simple
+ return jo.toJSONString(); // JSON-Simple to string
+ }
+
+ /**
+ * Translates JSON into a hierarchical Operation/Message structure.
+ * This includes handling fields that are @Indicated and @AsArray. If the
+ * @Class parameter is a @Wrapper, this is a special case whereby the
+ * object is wrapped to create a consistent hierarchy.
+ * @param json the source JSON string
+ * @param c the top level class of the JSON. Normally @Wrapper
+ * @param r the @Registry containing topic registrations
+ * @return the fully instantiated message hierarchy represented
+ * by the JSON string.
+ */
+ public static Message toMessage(String json, Class c, RegistryCheck your Web Console for output.
+ + diff --git a/src/server/src/main/resources/test.js b/src/server/src/main/resources/test.js new file mode 100644 index 0000000..0bf1978 --- /dev/null +++ b/src/server/src/main/resources/test.js @@ -0,0 +1,97 @@ + + // document.write('\n'); + // document.write('\n'); + + var ros = new ROSLIB.Ros({ + url : 'ws://192.168.43.20:9090' +}); + + ros.on('connection', function() { + console.log('Connected to websocket server.'); +}); + + ros.on('error', function(error) { + console.log('Error connecting to websocket server: ', error); +}); + + ros.on('close', function() { + console.log('Connection to websocket server closed.'); +}); + var move_base= new ROSLIB.ActionClient({ + ros : ros, + serverName : '/move_base', + actionName : 'move_base_msgs/MoveBaseAction' + }); + + var currentTime = new Date(); + var secs = Math.floor(currentTime.getTime()/1000) + var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs)) + + var goal = new ROSLIB.Goal({ + actionClient: move_base, + goalMessage:{ + target_pose:{ + header:{ + frame_id:'map', + stamp:{ + secs: secs, + nsecs:nsecs + } + }, + pose:{ + position:{ + x:-3.97, //-0.743 -0.0273 取件点 + y:1.68, //3.00 -0.09 + z:0.000 + }, + orientation:{ + x:0.000, + y:0.000, + z:0.000, + w:1.000 + } + } + } + } + }); + goal.on('feedback', function(feedback) { + console.log('Feedback: ' + feedback.sequence); + }); + + goal.on('result', function(result) { + console.log('Final Result: ' + result.sequence); + }); + + ros.on('connection', function() { + console.log('Connected to websocket server.'); + }); + + ros.on('error', function(error) { + console.log('Error connecting to websocket server: ', error); + }); + + ros.on('close', function() { + console.log('Connection to websocket server closed.'); + }); + + //goal.send(); + var cmdVel = new ROSLIB.Topic({ + ros : ros, + name : '/cmd_vel', + messageType : 'geometry_msgs/Twist' + }); + + var twist = new ROSLIB.Message({ + linear : { + x : 0.1, + y : 0.2, + z : 0.3 + }, + angular : { + x : -0.1, + y : -0.2, + z : -0.3 + } + }); + cmdVel.publish(twist); + diff --git a/src/server/src/test/java/com/example/testdemo/TestdemoApplicationTests.java b/src/server/src/test/java/com/example/testdemo/TestdemoApplicationTests.java new file mode 100644 index 0000000..7558b00 --- /dev/null +++ b/src/server/src/test/java/com/example/testdemo/TestdemoApplicationTests.java @@ -0,0 +1,13 @@ +package com.example.testdemo; + +import org.junit.jupiter.api.Test; +import org.springframework.boot.test.context.SpringBootTest; + +@SpringBootTest +class TestdemoApplicationTests { + + @Test + void contextLoads() { + } + +}