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3 Commits
| Author | SHA1 | Date |
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e958202ef9 | 3 years ago |
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XCR
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a4badd0a90 | 3 years ago |
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XCR
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2b7d30f9d0 | 3 years ago |
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@ -1,17 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="deploymentTargetDropDown">
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<targetSelectedWithDropDown>
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<Target>
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<type value="QUICK_BOOT_TARGET" />
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<deviceKey>
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<Key>
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<type value="VIRTUAL_DEVICE_PATH" />
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<value value="E:\SDK\avd\.android\avd\Pixel_XL_API_30.avd" />
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</Key>
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</deviceKey>
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</Target>
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</targetSelectedWithDropDown>
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<timeTargetWasSelectedWithDropDown value="2022-07-10T02:39:23.302314100Z" />
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</component>
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</project>
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@ -1,6 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="VcsDirectoryMappings">
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<mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
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</component>
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</project>
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@ -1,20 +0,0 @@
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{
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"version": 3,
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"artifactType": {
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"type": "APK",
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"kind": "Directory"
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},
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"applicationId": "com.example.logistics",
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"variantName": "release",
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"elements": [
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{
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"type": "SINGLE",
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"filters": [],
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"attributes": [],
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"versionCode": 1,
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"versionName": "1.0",
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"outputFile": "app-release.apk"
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}
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],
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"elementType": "File"
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}
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@ -1,120 +0,0 @@
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<!DOCTYPE html>
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<html>
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<head title="pickup">
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<meta charset="utf-8" />
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<script type="text/javascript" type="text/javascript">
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function callJS(){
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var ros = new ROSLIB.Ros({
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url : 'ws://192.168.43.20:9090'
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});
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ros.on('connection', function() {
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console.log('Connected to websocket server.');
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});
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ros.on('error', function(error) {
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console.log('Error connecting to websocket server: ', error);
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});
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ros.on('close', function() {
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console.log('Connection to websocket server closed.');
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});
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// 发布一个话题
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var move_base= new ROSLIB.ActionClient({
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ros : ros,
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serverName : '/move_base',
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actionName : 'move_base_msgs/MoveBaseAction'
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});
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var currentTime = new Date();
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var secs = Math.floor(currentTime.getTime()/1000)
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var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs))
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var goal = new ROSLIB.Goal({
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actionClient: move_base,
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goalMessage:{
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target_pose:{
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header:{
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frame_id:'map',
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stamp:{
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secs: secs,
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nsecs:nsecs
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}
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},
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pose:{
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position:{
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x:-3.97, //-0.743 -0.0273 取件点
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y:1.68, //3.00 -0.09
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z:0.000
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},
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orientation:{
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x:0.000,
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y:0.000,
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z:0.000,
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w:1.000
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}
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}
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}
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}
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});
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goal.on('feedback', function(feedback) {
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console.log('Feedback: ' + feedback.sequence);
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});
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goal.on('result', function(result) {
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console.log('Final Result: ' + result.sequence);
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});
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ros.on('connection', function() {
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console.log('Connected to websocket server.');
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});
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ros.on('error', function(error) {
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console.log('Error connecting to websocket server: ', error);
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});
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ros.on('close', function() {
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console.log('Connection to websocket server closed.');
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});
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//goal.send();
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var cmdVel = new ROSLIB.Topic({
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ros : ros,
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name : '/cmd_vel',
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messageType : 'geometry_msgs/Twist'
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});
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var twist = new ROSLIB.Message({
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linear : {
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x : 0.2,
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y : 0.0,
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z : 0.0
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},
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angular : {
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x : 0.0,
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y : 0.0,
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z : 0.0
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}
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});
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cmdVel.publish(twist);
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}
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</script>
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</head>
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<body>
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<h1>Simple roslib Example</h1>
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<p>Check your Web Console for output.</p>
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</body>
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</html>
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