rosnodejs

Install

npm install rosnodejs

Start a node

const rosnodejs = require('rosnodejs');
rosnodejs.initNode('/my_node')
.then(() => {
  // do stuff
});

Publish/Subscribe

const nh = rosnodejs.nh;
const sub = nh.subscribe('/chatter', 'std_msgs/String', (msg) => {
  console.log('Got msg on chatter: %j', msg);
});

const pub = nh.advertise('/chatter', 'std_msgs/String');
pub.publish({ data: "hi" });

Services

const service = nh.advertiseService('/add_two_ints', 'beginner_tutorials/AddTwoInts', (req, resp) => {
  res.sum = req.a + req.b;
  return true;
});

const client = nh.serviceClient('/add_two_ints', 'beginner_tutorials/AddTwoInts');
client.call({a: 1, b: 2});

Params

nh.setParam('val', 2);
nh.getParam('val')
.then((val) => {
  // do stuff
});

Messages

const sensorMsgs = rosnodejs.require('sensor_msgs');

const image = new sensorMsgs.msg.Image();
const temperature = new sensorMsgs.msg.Temperature({ temperature: 32 });

const SetCameraInfo = sensorMsgs.srv.SetCameraInfo;
const setRequest = new SetCameraInfo.Request();

// messages can be used when advertising/subscribing
const StringMsg = rosnodejs.require('std_msgs').msg.String;
const sub = nh.subscribe('/chatter', StringMsg, (msg) => { ... });
const pub = nh.advertise('/chatter', StringMsg);

const AddTwoInts = rosnodejs.require('beginner_tutorials').srv.AddTwoInts;
const service = nh.advertiseService('/add_two_ints', AddTwoInts, (req, resp) => { ... });
const client = nh.serviceClient('/add_two_ints', AddTwoInts);

Run the turtlesim example

Start:

roscore
rosrun turtlesim turtlesim_node
rosrun turtle_actionlib shape_server

Then run

node src/examples/turtle.js

or, if you are running an older version of node:

npm run compile
node dist/examples/turtle.js

Catkin-Like

Checkout rosnodejs_examples for a more catkin-inspired take on using rosnodejs.

Inspired By

rosnodejs was inspired by other work that you can learn more about here

• roscpp & rospy
• Robots as web services
• ROSBridge
• roslibjs