ROS utils for Transitive

Install

npm i @transitive-sdk/utils-ros

Example

const { ROSs, getForVersion } = require('@transitive-sdk/utils-ros');

const demo = async (version) => {
  const ros = getForVersion(version);
  await ros.init();

  const topic = '/utils_ros/test1';
  const type = version == 1 ? 'std_msgs/String' : 'std_msgs/msg/String';

  const interval = setInterval(() => {
    ros.publish(topic, type, {data: String(Date.now())});
  });

  const sub = ros.subscribe(topic, type, (msg) => {
    console.log('received', msg.data);
  });
};

demo(1); // ROS 1
demo(2); // ROS 2

Running Tests

Before you can run tests you need to make sure all optional dependencies are installed which requires you to first source a ROS2 distribution (e.g., . /opt/ros/galactic/setup/.bash followed by npm i).

To run tests, start a roscore, then:

npm test

Changelog

• v0.10: using [email protected] with pre-built binaries if possible (Humble+)
• v0.9: added support for ROS parameters