roslibjs/packages/roslib-examples/src/action_server.html at fe2c09c739a2efe9fdaf422330f84e746711d265 · RobotWebTools/roslibjs · GitHub

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<!doctype html>
<html>
  <head>
    <meta charset="utf-8" />
    <script src="/roslib/importmap.js"></script>

    <script type="module">
      import * as ROSLIB from "roslib";
      // Connecting to ROS
      // -----------------
      var ros = new ROSLIB.Ros({
        url: "ws://localhost:9090",
      });

      // If there is an error on the backend, an 'error' emit will be emitted.
      ros.on("error", function (error) {
        console.log(error);
      });

      ros.on("connection", function () {
        console.log("Connection made!");
      });

      // The ActionServer
      // ----------------

      const fibonacciServer = new ROSLIB.SimpleActionServer({
        ros: ros,
        serverName: "/fibonacci",
        actionName: "actionlib_tutorials/FibonacciAction",
      });

      var canceled = false;

      //handle fibonacci action request.
      fibonacciServer.on("goal", function (goalMessage) {
        console.log(goalMessage);
        fibonacciSequence = [];
        fibonacciSequence.push(0);
        fibonacciSequence.push(1);

        for (var i = 1; i < goalMessage.order; i++) {
          fibonacciSequence.push(
            fibonacciSequence[i] + fibonacciSequence[i - 1],
          );

          if (canceled === true) {
            console.log("Action server preempted");

            fibonacciServer.setPreempted();
          }
          console.log(fibonacciSequence);
          //send feedback
          var feedback = { sequence: fibonacciSequence };
          fibonacciServer.sendFeedback(fibonacciSequence);
        }

        //send result
        var result = { sequence: fibonacciSequence };
        fibonacciServer.setSucceeded(result);
      });

      fibonacciServer.on("cancel", function (goalMessage) {
        canceled = true;
      });
    </script>
  </head>

  <body>
    <h1>Fibonacci ActionClient Example</h1>
    <p>
      Run the following commands in the terminal then refresh this page. Check
      the JavaScript console for the output.
    </p>
    <ol>
      <li><tt>roscore</tt></li>
      <li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
      <li><tt>refresh this page</tt></li>
      <li><tt>rosrun actionlib_tutorials fibonacci_client</tt></li>
    </ol>
  </body>
</html>