更新中文部署文档

TonyRobotics · Nov 20, 2018 · 33ed5dc · 33ed5dc
1 parent 15137dd
commit 33ed5dc
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Showing 3 changed files with 12 additions and 2 deletions.
diff --git a/doc/zh_CN/DEPLOY.md b/doc/zh_CN/DEPLOY.md
@@ -12,6 +12,7 @@
 3. 地图服务：`ros-kinetic-map-server`
 4. 摄像头流服务：`ros-kinetic-web-video-server`
 5. USB 摄像头驱动：`ros-kinetic-usb-cam`
+6. rosbridge：`sudo apt-get install ros-kinetic-rosbridge-suite`
 
 ## 代码部署
 

diff --git a/src/restful/controllers/roslaunch.js b/src/restful/controllers/roslaunch.js
@@ -8,12 +8,19 @@ const rosCtrl = require('../../roscontrol');
 const path = require('path');
 
 let fn_startROSLaunch = async (ctx, next) => {
+
+
+
     let preset = ctx.request.query.preset;
+    console.log("运行ROS Launch",preset);
     if (!preset) {
         ctx.response.body = {
             message: 'failed: need preset in query!'
         }
     } else {
+
+        console.log("运行ROS Launch 1");
+
         let launchFile;
         //TODO: 在此处更新预设 launch 
         switch (preset) {
@@ -35,10 +42,10 @@ let fn_startROSLaunch = async (ctx, next) => {
                 console.log('roslaunch Closed ===> \n', data);
             }
             if (event == 'stderr') {
-                // console.log('roslaunch STDERR ===>\n', data);
+                console.error('roslaunch STDERR ===>\n', data);
             }
             if (event == 'stdout') {
-                // console.log('roslaunch STDERR ===>\n', data);
+                console.log('roslaunch stdout ===>\n', data);
             }
         });
         ctx.response.body = {

diff --git a/src/roscontrol/lib/runlaunch.js b/src/roscontrol/lib/runlaunch.js
@@ -30,6 +30,8 @@ function runRosLaunch(packageName, fileName, callback, options, args) {
     if (args) {
         argsArr.push(...args)
     }
+    console.log(`[---info] packageName=${packageName} fileName=${fileName} options=${options} args=${args}`);
+    console.log("启动ros服务，argsArr",argsArr);
     let subprocess = cp.spawn('roslaunch', argsArr);
     subprocess.on('close', (data) => {
         if (callback) {