Class Ros

Manages connection to the rosbridge server and all interactions with ROS.

Emits the following events:

'connection' - Connected to the rosbridge server.
'close' - Disconnected to the rosbridge server.
'error' - There was an error with ROS.
<topicName> - A message came from rosbridge with the given topic name.
<serviceID> - A service response came from rosbridge with the given ID.

Hierarchy

EventEmitter<
    {
        close: [TransportEvent];
        connection: [TransportEvent];
        error: [TransportEvent];
    } & Record<string, [RosbridgeMessage]>,
>
- Ros

Constructors

constructor

new Ros(
    __namedParameters?: {
        transportFactory?: ITransportFactory;
        url?: string;
    },
): Ros
Parameters
- __namedParameters: { transportFactory?: ITransportFactory; url?: string } = {}
  - OptionaltransportFactory?: ITransportFactory
    The factory to use to create a transport. Defaults to a WebSocket transport factory.
  - Optionalurl?: string
    The rosbridge server URL. Can be specified later with connect. If specified, then will immediately try to connect to the server.
Returns Ros
Overrides EventEmitter< { connection: [TransportEvent]; close: [TransportEvent]; error: [TransportEvent]; // Any dynamically-named event should correspond to a rosbridge protocol message } & Record<string, [RosbridgeMessage]> >.constructor
- Defined in src/core/Ros.ts:65

Properties

`Static`prefixed

prefixed: string | boolean

Accessors

isConnected

get isConnected(): boolean
Returns boolean
- Defined in src/core/Ros.ts:90

Methods

ActionClient

ActionClient<TGoal, TFeedback, TResult>(
options: Omit<ConstructorParameters<typeof ActionClient>[0], "ros">,
): ActionClient<TGoal, TFeedback, TResult>
Type Parameters
- TGoal
- TFeedback
- TResult
Parameters
- options: Omit<ConstructorParameters<typeof ActionClient>[0], "ros">
Returns ActionClient<TGoal, TFeedback, TResult>
- Defined in src/core/Ros.ts:764

addListener

addListener<T extends string>(
    event: T,
    fn: (
        ...args: ArgumentMap<
            { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
                string,
                [RosbridgeMessage],
            >,
        >[Extract<T, string>],
    ) => void,
    context?: any,
): this
Type Parameters
- T extends string
Parameters
- event: T
- fn: (
      ...args: ArgumentMap<
          { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
              string,
              [RosbridgeMessage],
          >,
      >[Extract<T, string>],
  ) => void
- Optionalcontext: any
Returns this
Inherited from EventEmitter.addListener
- Defined in node_modules/eventemitter3/index.d.ts:45

authenticate

authenticate(
    mac: string,
    client: string,
    dest: string,
    rand: string,
    t: number,
    level: string,
    end: number,
): void
Send an authorization request to the server.
Parameters
- mac: string
  MAC (hash) string given by the trusted source.
- client: string
  IP of the client.
- dest: string
  IP of the destination.
- rand: string
  Random string given by the trusted source.
- t: number
  Time of the authorization request.
- level: string
  User level as a string given by the client.
- end: number
  End time of the client's session.
Returns void
- Defined in src/core/Ros.ts:164

callOnConnection

callOnConnection(message: RosbridgeMessage): void
Sends the message to the transport. If not connected, queues the message to send once reconnected.
Parameters
- message: RosbridgeMessage
Returns void
- Defined in src/core/Ros.ts:190

close

close(): void
Returns void
- Defined in src/core/Ros.ts:121

connect

connect(url: string): Promise<void>
Parameters
- url: string
Returns Promise<void>
- Defined in src/core/Ros.ts:94

decodeTypeDefs

decodeTypeDefs(defs: TypeDef[]): TypeDefDict
Decode a typedef array into a dictionary like rosmsg show foo/bar.
Parameters
- defs: TypeDef[]
  Array of type_def dictionary.
Returns TypeDefDict
- Defined in src/core/Ros.ts:641

emit

emit<T extends string>(
    event: T,
    ...args: ArgumentMap<
        { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
            string,
            [RosbridgeMessage],
        >,
    >[Extract<T, string>],
): boolean
Calls each of the listeners registered for a given event.
Type Parameters
- T extends string
Parameters
- event: T
- ...args: ArgumentMap<
      { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
          string,
          [RosbridgeMessage],
      >,
  >[Extract<T, string>]
Returns boolean
Inherited from EventEmitter.emit
- Defined in node_modules/eventemitter3/index.d.ts:32

eventNames

eventNames(): string[]
Return an array listing the events for which the emitter has registered listeners.

Returns string[]
Inherited from EventEmitter.eventNames
- Defined in node_modules/eventemitter3/index.d.ts:15

getActionServers

getActionServers(
callback: (actionservers: string[]) => void,
failedCallback?: (error: string) => void,
): void
Retrieve a list of action servers in ROS as an array of string.
Parameters
- callback: (actionservers: string[]) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:224

getMessageDetails

getMessageDetails(
    message: string,
    callback: (typedefs: TypeDef[]) => void,
    failedCallback?: (error: string) => void,
): void
Retrieve the details of a ROS message.
Parameters
- message: string
  The name of the message type.
- callback: (typedefs: TypeDef[]) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:608

getNodeDetails

getNodeDetails(
    node: string,
    callback: (result: NodeDetailsResponse) => void,
    failedCallback?: (error: string) => void,
): void
Retrieve a list of subscribed topics, publishing topics and services of a specific node.
Parameters
- node: string
  Name of the node.
- callback: (result: NodeDetailsResponse) => void
- failedCallback: (error: string) => void = console.error
Returns void
- Defined in src/core/Ros.ts:484

getNodes

getNodes(
callback: (result: string[]) => void,
failedCallback?: (error: string) => void,
): void
Retrieve a list of active node names in ROS.
Parameters
- callback: (result: string[]) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:457

getParams

getParams(
callback: (names: string[]) => void,
failedCallback?: (error: string) => void,
): void
Retrieve a list of parameter names from the ROS Parameter Server.
Parameters
- callback: (names: string[]) => void
  Function with the following params:
- failedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:507

getServiceRequestDetails

getServiceRequestDetails(
    type: string,
    callback: (result: ServiceRequestDetailsResponse) => void,
    failedCallback?: (error: string) => void,
): void
Retrieve the details of a ROS service request.
Parameters
- type: string
  The type of the service.
- callback: (result: ServiceRequestDetailsResponse) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:388

getServiceResponseDetails

getServiceResponseDetails(
    type: string,
    callback: (result: ServiceResponseDetailsResponse) => void,
    failedCallback?: (error: string) => void,
): void
Retrieve the details of a ROS service response.
Parameters
- type: string
  The type of the service.
- callback: (result: ServiceResponseDetailsResponse) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:423

getServices

getServices(
callback: (services: string[]) => void,
failedCallback?: (error: string) => void,
): void
Retrieve a list of active service names in ROS.
Parameters
- callback: (services: string[]) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:321

getServicesForType

getServicesForType(
    serviceType: string,
    callback: (services: string[]) => void,
    failedCallback?: (error: string) => void,
): void
Retrieve a list of services in ROS as an array as specific type.
Parameters
- serviceType: string
  The service type to find.
- callback: (services: string[]) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:353

getServiceType

getServiceType(
    service: string,
    callback: (type: string) => void,
    failedCallback?: (error: string) => void,
): void
Retrieve the type of a ROS service.
Parameters
- service: string
  Name of the service.
- callback: (type: string) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:573

getTopics

getTopics(
callback: (result: TopicsResponse) => void,
failedCallback?: (error: string) => void,
): void
Retrieve a list of topics in ROS as an array.
Parameters
- callback: (result: TopicsResponse) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:255

getTopicsAndRawTypes

getTopicsAndRawTypes(
callback: (result: TopicsAndRawTypesResponse) => void,
failedCallback?: (error: string) => void,
): void
Retrieve a list of topics and their associated type definitions.
Parameters
- callback: (result: TopicsAndRawTypesResponse) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:712

getTopicsForType

getTopicsForType(
    topicType: string,
    callback: (topics: string[]) => void,
    failedCallback?: (error: string) => void,
): void
Retrieve a list of topics in ROS as an array of a specific type.
Parameters
- topicType: string
  The topic type to find.
- callback: (topics: string[]) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:287

getTopicType

getTopicType(
    topic: string,
    callback: (type: string) => void,
    failedCallback?: (error: string) => void,
): void
Retrieve the type of a ROS topic.
Parameters
- topic: string
  Name of the topic.
- callback: (type: string) => void
  Function with the following params:
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed with params:
Returns void
- Defined in src/core/Ros.ts:538

listenerCount

listenerCount(event: string): number
Return the number of listeners listening to a given event.
Parameters
- event: string
Returns number
Inherited from EventEmitter.listenerCount
- Defined in node_modules/eventemitter3/index.d.ts:27

listeners

listeners<T extends string>(
    event: T,
): (
    (
        ...args: ArgumentMap<
            { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
                string,
                [RosbridgeMessage],
            >,
        >[Extract<T, string>],
    ) => void
)[]
Return the listeners registered for a given event.
Type Parameters
- T extends string
Parameters
- event: T
Returns (
    (
        ...args: ArgumentMap<
            { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
                string,
                [RosbridgeMessage],
            >,
        >[Extract<T, string>],
    ) => void
)[]
Inherited from EventEmitter.listeners
- Defined in node_modules/eventemitter3/index.d.ts:20

off

off<T extends string>(
    event: T,
    fn?: (
        ...args: ArgumentMap<
            { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
                string,
                [RosbridgeMessage],
            >,
        >[Extract<T, string>],
    ) => void,
    context?: any,
    once?: boolean,
): this
Type Parameters
- T extends string
Parameters
- event: T
- Optionalfn: (
      ...args: ArgumentMap<
          { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
              string,
              [RosbridgeMessage],
          >,
      >[Extract<T, string>],
  ) => void
- Optionalcontext: any
- Optionalonce: boolean
Returns this
Inherited from EventEmitter.off
- Defined in node_modules/eventemitter3/index.d.ts:69

on

on<T extends string>(
    event: T,
    fn: (
        ...args: ArgumentMap<
            { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
                string,
                [RosbridgeMessage],
            >,
        >[Extract<T, string>],
    ) => void,
    context?: any,
): this
Add a listener for a given event.
Type Parameters
- T extends string
Parameters
- event: T
- fn: (
      ...args: ArgumentMap<
          { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
              string,
              [RosbridgeMessage],
          >,
      >[Extract<T, string>],
  ) => void
- Optionalcontext: any
Returns this
Inherited from EventEmitter.on
- Defined in node_modules/eventemitter3/index.d.ts:40

once

once<T extends string>(
    event: T,
    fn: (
        ...args: ArgumentMap<
            { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
                string,
                [RosbridgeMessage],
            >,
        >[Extract<T, string>],
    ) => void,
    context?: any,
): this
Add a one-time listener for a given event.
Type Parameters
- T extends string
Parameters
- event: T
- fn: (
      ...args: ArgumentMap<
          { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
              string,
              [RosbridgeMessage],
          >,
      >[Extract<T, string>],
  ) => void
- Optionalcontext: any
Returns this
Inherited from EventEmitter.once
- Defined in node_modules/eventemitter3/index.d.ts:54

Param

Param<T>(options: Omit<ConstructorParameters<typeof Param>[0], "ros">): Param<T>
Type Parameters
- T
Parameters
- options: Omit<ConstructorParameters<typeof Param>[0], "ros">
Returns Param<T>
- Defined in src/core/Ros.ts:743

removeAllListeners

removeAllListeners(event?: string): this
Remove all listeners, or those of the specified event.
Parameters
- Optionalevent: string
Returns this
Inherited from EventEmitter.removeAllListeners
- Defined in node_modules/eventemitter3/index.d.ts:79

removeListener

removeListener<T extends string>(
    event: T,
    fn?: (
        ...args: ArgumentMap<
            { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
                string,
                [RosbridgeMessage],
            >,
        >[Extract<T, string>],
    ) => void,
    context?: any,
    once?: boolean,
): this
Remove the listeners of a given event.
Type Parameters
- T extends string
Parameters
- event: T
- Optionalfn: (
      ...args: ArgumentMap<
          { close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
              string,
              [RosbridgeMessage],
          >,
      >[Extract<T, string>],
  ) => void
- Optionalcontext: any
- Optionalonce: boolean
Returns this
Inherited from EventEmitter.removeListener
- Defined in node_modules/eventemitter3/index.d.ts:63

Service

Service<TRequest, TResponse>(
options: Omit<ConstructorParameters<typeof Service>[0], "ros">,
): Service<TRequest, TResponse>
Type Parameters
- TRequest
- TResponse
Parameters
- options: Omit<ConstructorParameters<typeof Service>[0], "ros">
Returns Service<TRequest, TResponse>
- Defined in src/core/Ros.ts:749

setStatusLevel

setStatusLevel(level: "error" | "info" | "warning" | "none", id?: string): void
Send a set_level request to the server.
Parameters
- level: "error" | "info" | "warning" | "none"
  Status level (none, error, warning, info).
- Optionalid: string
  Operation ID to change status level on.
Returns void
- Defined in src/core/Ros.ts:206

SimpleActionServer

SimpleActionServer<TGoal, TFeedback, TResult>(
    options: Omit<
        ConstructorParameters<typeof SimpleActionServer>[0],
        "ros",
    >,
): SimpleActionServer<TGoal, TFeedback, TResult>
Type Parameters
- TGoal
- TFeedback
- TResult
Parameters
- options: Omit<ConstructorParameters<typeof SimpleActionServer>[0], "ros">
Returns SimpleActionServer<TGoal, TFeedback, TResult>
- Defined in src/core/Ros.ts:776

TFClient

TFClient(
options: Omit<ConstructorParameters<typeof TFClient>[0], "ros">,
): TFClient
Parameters
- options: Omit<ConstructorParameters<typeof TFClient>[0], "ros">
Returns TFClient
- Defined in src/core/Ros.ts:758

Topic

Topic<T>(options: Omit<ConstructorParameters<typeof Topic>[0], "ros">): Topic<T>
Type Parameters
- T
Parameters
- options: Omit<ConstructorParameters<typeof Topic>[0], "ros">
Returns Topic<T>
- Defined in src/core/Ros.ts:737

Class Ros

Hierarchy

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

Parameters

OptionaltransportFactory?: ITransportFactory

Optionalurl?: string

Returns Ros

Properties

Staticprefixed

Accessors

isConnected

Returns boolean

Methods

ActionClient

Type Parameters

Parameters

Returns ActionClient<TGoal, TFeedback, TResult>

addListener

Type Parameters

Parameters

Returns this

authenticate

Parameters

Returns void

callOnConnection

Parameters

Returns void

close

Returns void

connect

Parameters

Returns Promise<void>

decodeTypeDefs

Parameters

Returns TypeDefDict

emit

Type Parameters

Parameters

Returns boolean

eventNames

Returns string[]

getActionServers

Parameters

Returns void

getMessageDetails

Parameters

Returns void

getNodeDetails

Parameters

Returns void

getNodes

Parameters

Returns void

getParams

Parameters

Returns void

getServiceRequestDetails

Parameters

Returns void

getServiceResponseDetails

Parameters

Returns void

getServices

Parameters

Returns void

getServicesForType

Parameters

Returns void

getServiceType

Parameters

Returns void

getTopics

Parameters

Returns void

`Optional`transportFactory?: ITransportFactory

`Optional`url?: string

`Static`prefixed

Returns (
(
...args: ArgumentMap<
{ close: [unknown]; connection: [unknown]; error: [unknown] } & Record<
string,
[RosbridgeMessage],
>,
>[Extract<T, string>],
) => void
)[]