RmsHelper

Extends \Helper

RMS Helper

The RMS helper adds useful functions for making use of the RMS JavaScript library.

author

Russell Toris - rctoris@wpi.edu

copyright

2014 Worcester Polytechnic Institute

link

https://github.com/WPI-RAIL/rms

since

RMS v 2.0.0

version 2.0.9
package

app.View.Helper

Methods

Initialize study information if there is a valid study session. This method has no effect if no study session is in progress.

initStudy() : string

Response

string

The HTML for study initialization.

Add an interactive marker to the global ros3d scene.

interactiveMarker(string $topic, integer $colladaLoader = null, string $resourceServer = null) : string

Arguments

$topic

string

The interactive marker topic.

$colladaLoader

integer

The Collada loader ID to use.

$resourceServer

string

The base URL of the Collada resource server.

Response

string

The HTML for the entire script block.

Create a keyboard teleoperation connection via keyboardteleopjs.

keyboardTeleop(string $topic, null|string $throttle = null) : string

Arguments

$topic

string

The teleoperation topic to publish to.

$throttle

null|string

The throttle rate.

Response

string

The HTML for the entire script block.

Add a marker to the global ros3d scene.

marker(string $topic) : string

Arguments

$topic

string

The marker topic.

Response

string

The HTML for the entire script block.

Create a section with a MJPEG server diagnostic panel.

mjpegPanel(string $host, integer $port, array $topics) : string

Arguments

$host

string

The MJPEG host.

$port

integer

The MJPEG port.

$topics

array

The MJPEG topics.

Response

string

The HTML for the section.

Create a span with a status icon on if the MJPEG server is up and running.

mjpegServerStatus(string $host, integer $port) : string

Arguments

$host

string

The MJPEG host.

$port

integer

The MJPEG port.

Response

string

The HTML for the span.

Create a section with a MJPEG stream display.

mjpegStream(string $host, integer $port, string $topic, array|null $options = null) : string

Arguments

$host

string

The MJPEG host.

$port

integer

The MJPEG port.

$topic

string

The MJPEG stream topic.

$options

array|null

The stream options.

Response

string

The HTML for the section.

Create a global ROS connection. This will store the connection object in a JavaScript variable called _ROS.

ros(string $uri, boolean $groovy = false, null|string $rosauth = null) : string

Arguments

$uri

string

The complete rosbridge connection URI.

$groovy

boolean

If groovy compatibility should be used.

$rosauth

null|string

The optional rosauth connection key.

Response

string

The HTML for the entire script block.

Create a global ROS 2D scene. This will store the viewer object in a JavaScript variable called _VIEWER2D.

ros2d(string $background = '#111111', float $heightScale = 0.66) : string

Arguments

$background

string

The background color of the viewer.

$heightScale

float

The scale of the width that will be the height.

Response

string

The HTML for the entire script block.

Create a global ROS 3D scene. This will store the viewer object in a JavaScript variable called _VIEWER.

ros3d(string $background = '#111111', float $intensity = 0.66, float $heightScale = 0.66) : string

Arguments

$background

string

The background color of the viewer.

$intensity

float

The lighting intensity.

$heightScale

float

The scale of the width that will be the height.

Response

string

The HTML for the entire script block.

Create a section with a rosbridge diagnostic panel.

rosbridgePanel(string $protocol, string $host, integer $port) : string

Arguments

$protocol

string

The rosbridge protocol ('ws' or 'wss')

$host

string

The rosbridge host.

$port

integer

The rosbridge port.

Response

string

The HTML for the section.

Create a span with a status icon on if the rosbridge server is up and running.

rosbridgeStatus(string $protocol, string $host, integer $port) : string

Arguments

$protocol

string

The rosbridge protocol ('ws' or 'wss')

$host

string

The rosbridge host.

$port

integer

The rosbridge port.

Response

string

The HTML for the span.

Create a global ROS TF client. This will store the client object in a JavaScript variable called _TF.

tf(string $frame, float $angular, float $translation, float $rate) : string

Arguments

$frame

string

The fixed frame.

$angular

float

The angular publish threshold.

$translation

float

The translational publish threshold.

$rate

float

The publish rate.

Response

string

The HTML for the entire script block.

Add an URDF to the global ros3d scene.

urdf(string $param, integer $colladaLoader = null, string $resourceServer = null) : string

Arguments

$param

string

The robot description parameter.

$colladaLoader

integer

The Collada loader ID to use.

$resourceServer

string

The base URL of the Collada resource server.

Response

string

The HTML for the entire script block.