PierrickKoch · June 18, 2012 11:24
diff --git a/wander.html b/wander.html
 <!doctype html>
 <html>
 <head>
 <title>wander rosjs</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8">
 <script type="text/javascript" src="ros.js"></script>
 <script type="text/javascript">
 (function () { // [onload]

 Array.prototype.sum = function (begin, end) {
    var end = typeof end !== 'undefined' ? end : this.length,
        inc = typeof begin !== 'undefined' ? begin : 0, sum = 0;
    for (; inc < end; sum += this[inc++]) {}
    return sum;
 }

 function logdebug(msg) {
    document.getElementById('debug').innerHTML += msg + '\n';
 }

 function wander(ranges) {
    var mid = Math.floor(ranges.length / 2),
        cmd = {linear:  {x:0, y:0, z:0},
               angular: {x:0, y:0, z:0}},
        halt = false;
    // halt if an object is less than 2m in a 30deg angle
    for (i = mid-15; i < mid+15; i++) {
        if (ranges[i] < 2) {
            halt = true;
            break;
        }
    }
    if (halt) {
        // we go to the highest-range side scanned
        if (ranges.sum(0, mid) > ranges.sum(mid)) {
            cmd.angular.z = -1;
        } else {
            cmd.angular.z = 1;
        }
    } else {
        cmd.linear.x = 1;
    }
    return cmd;
 }

 /* rosrun mjpeg_server mjpeg_server */
 function updateImage() {
    var image = document.getElementById('image');
    image.onload = function() {
        window.setTimeout(updateImage, 50);
    };
    image.src = 'http://localhost:8080/stream?topic=/beego/camera/image&' +
                Number(new Date);
 }

 var dowander = true;
 var connection = new ros.Connection("ws://localhost:9090");

 connection.setOnClose(function (e) {
    logdebug("connection closed");
 });

 connection.setOnError(function (e) {
    logdebug("error! " + e);
 });

 connection.setOnOpen(function (e) {
    logdebug("connected to ROS");
    /* rosbridge requires that you first make a call to /rosjs/subscribe
       with the name of the topic and the desired minimum delay between
       messages in milliseconds. */
    connection.callService('/rosjs/subscribe','["/beego/scan",100]', function (rsp) {
        logdebug('rosjs subscribe to scan: ' + rsp);
    });
    /* handle the laser scan message */
    connection.addHandler('/beego/scan', function (scan) {
        /* wander, obstacle avoidance */
        if (dowander) {
            var cmd = wander(scan.ranges);
            connection.publish('/beego/velocity', 'geometry_msgs/Twist', cmd);
        }
    });
    /* start image display */
    updateImage();
 });

 /* https://developer.mozilla.org/en/DOM/event/UIEvent/KeyEvent#Constants */
 function handleKey(code, down) {
    var cmd = {linear:  {x:0, y:0, z:0},
               angular: {x:0, y:0, z:0}},
        scale = (down == true) ? 1 : 0,
        move = false;
    switch (code) {
    case 32:
        // spacebar
        if (!down) {
            move = true;
            dowander = !dowander;
        }
    case 37:
        // left
        move = true;
        cmd.angular.z = 1 * scale;
        break;
    case 38:
        // up
        move = true;
        cmd.linear.x = .5 * scale;
        break;
    case 39:
        // right
        move = true;
        cmd.angular.z = -1 * scale;
        break;
    case 40:
        // down
        move = true;
        cmd.linear.x = -.5 * scale;
        break;
    }
    if (move) {
        connection.publish('/beego/velocity', 'geometry_msgs/Twist', cmd);
    }
 }
 document.addEventListener('keydown', function (e) {
    handleKey(e.keyCode, true);
 }, true);
 document.addEventListener('keyup', function (e) {
    handleKey(e.keyCode, false);
 }, true);

 })(); // [end onload]
 </script>
 </head>

 <body>
  <section>
    <h1>wander rosjs</h1>
    <em>hit [escape] to close the connection</em>
  </section>
  <section>
    <h2>legend</h2>
    <p>[spacebar] to stop/restart wandering,<br/>
    arrows ← ↑ → ↓ to move</p>
  </section>
  <section>
    <h2>image</h2>
    <img id="image"/>
  </section>
  <section>
    <h2>debug</h2>
    <pre><div id="debug"></div></pre>
  </section>
 </body>
 </hmtl>
	<!doctype html>
	<html>
	<head>
	<title>wander rosjs</title>
	<meta http-equiv="content-type" content="text/html; charset=utf-8">
	<script type="text/javascript" src="ros.js"></script>
	<script type="text/javascript">
	(function () { // [onload]

	Array.prototype.sum = function (begin, end) {
	var end = typeof end !== 'undefined' ? end : this.length,
	inc = typeof begin !== 'undefined' ? begin : 0, sum = 0;
	for (; inc < end; sum += this[inc++]) {}
	return sum;
	}

	function logdebug(msg) {
	document.getElementById('debug').innerHTML += msg + '\n';
	}

	function wander(ranges) {
	var mid = Math.floor(ranges.length / 2),
	cmd = {linear: {x:0, y:0, z:0},
	angular: {x:0, y:0, z:0}},
	halt = false;
	// halt if an object is less than 2m in a 30deg angle
	for (i = mid-15; i < mid+15; i++) {
	if (ranges[i] < 2) {
	halt = true;
	break;
	}
	}
	if (halt) {
	// we go to the highest-range side scanned
	if (ranges.sum(0, mid) > ranges.sum(mid)) {
	cmd.angular.z = -1;
	} else {
	cmd.angular.z = 1;
	}
	} else {
	cmd.linear.x = 1;
	}
	return cmd;
	}

	/* rosrun mjpeg_server mjpeg_server */
	function updateImage() {
	var image = document.getElementById('image');
	image.onload = function() {
	window.setTimeout(updateImage, 50);
	};
	image.src = 'http://localhost:8080/stream?topic=/beego/camera/image&' +
	Number(new Date);
	}

	var dowander = true;
	var connection = new ros.Connection("ws://localhost:9090");

	connection.setOnClose(function (e) {
	logdebug("connection closed");
	});

	connection.setOnError(function (e) {
	logdebug("error! " + e);
	});

	connection.setOnOpen(function (e) {
	logdebug("connected to ROS");
	/* rosbridge requires that you first make a call to /rosjs/subscribe
	with the name of the topic and the desired minimum delay between
	messages in milliseconds. */
	connection.callService('/rosjs/subscribe','["/beego/scan",100]', function (rsp) {
	logdebug('rosjs subscribe to scan: ' + rsp);
	});
	/* handle the laser scan message */
	connection.addHandler('/beego/scan', function (scan) {
	/* wander, obstacle avoidance */
	if (dowander) {
	var cmd = wander(scan.ranges);
	connection.publish('/beego/velocity', 'geometry_msgs/Twist', cmd);
	}
	});
	/* start image display */
	updateImage();
	});

	/* https://developer.mozilla.org/en/DOM/event/UIEvent/KeyEvent#Constants */
	function handleKey(code, down) {
	var cmd = {linear: {x:0, y:0, z:0},
	angular: {x:0, y:0, z:0}},
	scale = (down == true) ? 1 : 0,
	move = false;
	switch (code) {
	case 32:
	// spacebar
	if (!down) {
	move = true;
	dowander = !dowander;
	}
	case 37:
	// left
	move = true;
	cmd.angular.z = 1 * scale;
	break;
	case 38:
	// up
	move = true;
	cmd.linear.x = .5 * scale;
	break;
	case 39:
	// right
	move = true;
	cmd.angular.z = -1 * scale;
	break;
	case 40:
	// down
	move = true;
	cmd.linear.x = -.5 * scale;
	break;
	}
	if (move) {
	connection.publish('/beego/velocity', 'geometry_msgs/Twist', cmd);
	}
	}
	document.addEventListener('keydown', function (e) {
	handleKey(e.keyCode, true);
	}, true);
	document.addEventListener('keyup', function (e) {
	handleKey(e.keyCode, false);
	}, true);

	})(); // [end onload]
	</script>
	</head>

	<body>
	<section>
	<h1>wander rosjs</h1>
	<em>hit [escape] to close the connection</em>
	</section>
	<section>
	<h2>legend</h2>
	<p>[spacebar] to stop/restart wandering,<br/>
	arrows ← ↑ → ↓ to move</p>
	</section>
	<section>
	<h2>image</h2>
	<img id="image"/>
	</section>
	<section>
	<h2>debug</h2>
	<pre><div id="debug"></div></pre>
	</section>
	</body>
	</hmtl>
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