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add joypad sample for publishing /joy topic #58

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add joypad sample for publishing /joy topic #58

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5 changes: 5 additions & 0 deletions doc/index.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -125,6 +125,11 @@ Chat

After launching start_bridge.launch, let's open http://localhost:%PORT_OF_YOURCHOICE%/roswww/chat.html with a browser in two windows. Once you send a message from one of the windows, the message will be shown in both windows.

Gamepad(Joy)
--------------

After launching start_bridge.launch and connect a gamapad to the PC/tablet on which you open a browser, let's open http://%HOSTNAME%:%PORT_OF_YOURCHOICE%/roswww/browser_joy.html?wsaddress=%HOSTNAME%&wsport=%WEBSOCKET_PORT% with a browser. '/joy' topic will be published when you push buttons on the gamepad.

Basic Authentication
====================

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106 changes: 106 additions & 0 deletions www/browser_joy.html
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Original file line number Diff line number Diff line change
@@ -0,0 +1,106 @@
<!DOCTYPE html>

<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="https://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>

<script>
// parse parameters
const params = new URLSearchParams(window.location.search);
var nodebug = params.get('nodebug');
var wsport = params.get('wsport');
var wsaddress = params.get('wsaddress');
var debug = true;
if (nodebug) {
console.log('run without debug print');
debug = false
}
if ( !(wsport) ) {
wsport = '9090'
}
if ( !(wsaddress) ) {
wsaddress = 'localhost'
}
var initial_text = 'browser_joy.html start with wsport=' + wsport + ', wsaddress=' + wsaddress
console.log(initial_text);
// Print debug data
document.write('<html><body><div id="joy_data">' + initial_text + '<br>Press any Button</div></body></html>');

function print_joy(id, button, axes) {
var print_text = [];
print_text += "Joy ID: " + id + "<br>";
print_text += "button: ["
for(var i = 0 ; i < button.length; i++) {
print_text += " " + button[i]
}
print_text += "]<br>"
print_text += "_axes_: ["
for(var i = 0 ; i < axes.length; i++) {
print_text += " " + axes[i].toFixed(2)
}
print_text += "]<br>"
document.getElementById("joy_data").innerHTML = print_text;
}

//
// read JoyPad and publish /joy
//
var rAF = window.requestAnimationFrame;

// Connecting to ROS
// -----------------
var ros = new ROSLIB.Ros();

// Create a connection to the rosbridge WebSocket server.
ros.connect('ws://' + wsaddress + ':' + wsport);

// Create a Topic object
var joy_talker = new ROSLIB.Topic({
ros : ros,
name : '/joy',
messageType : 'sensor_msgs/Joy'
});

var update_count = 0;
var prev_stamp = 0;
function update_pads() {
var pads = navigator.getGamepads ? navigator.getGamepads() :
(navigator.webkitGetGamepads ? navigator.webkitGetGamepads : []);
// use first gamepad...
pads = pads[0];
var btn = [];
var axes = [];
var update_flag = false;
if (pads) {
var stamp = pads.timestamp;
if (stamp > prev_stamp) {
update_flag = true;
for (var i = 0; i < pads.buttons.length; i++) {
var val = pads.buttons[i];
var pressed = val == 1.0;
if (typeof (val) == "object") {
pressed = val.pressed;
val = val.value;
}
btn[i] = val;
}
axes = pads.axes;
}
prev_stamp = stamp;
}
if (update_flag) {
var msg = new ROSLIB.Message({
// header: { stamp: { seq: , nsec: } },
axes: axes,
buttons: btn
});
joy_talker.publish(msg);
console.log("pad:[" + update_count + "] " + prev_stamp);
if (debug) print_joy(pads.id, btn, axes);
}
update_count += 1;
rAF(update_pads);
}
rAF(update_pads);

</script>