Full nodejs support

[megawac]

Requires review and if accepted will null the need of the nodejs branch. There is a ton of small build refactorings in here so this diff is going to be difficult to process -- I recommend viewing the actual branch: https://github.com/megawac/roslibjs/tree/umd-modules

I'm still in the process of running the examples and integration....

Fixes #53

---

Additional install steps:

• Install cario. System specific guide: https://github.com/Automattic/node-canvas/wiki/_pages

$ [sudo] apt-get install libcairo2-dev libjpeg8-dev libpango1.0-dev libgif-dev build-essential g++

[megawac]

I'm going to break this out into multiple commits actually and squash them down later so it's easier to process

[rctoris]

Can https://github.com/megawac/roslibjs/blob/umd-modules/CONTRIBUTING.md contain at the least the original Ubuntu specific versions of the install instructions? It used to be a quick 1-2-3 copy paste for Ubuntu devs and now its just a bunch of links.

[megawac]

Sure thing. Should I just add points like

• For Ubuntu

$ sudo apt-get install libcairo2-dev libjpeg8-dev libpango1.0-dev libgif-dev build-essential g++

[rctoris]

Yeah, there was a weird setup point for the doc building too that is nice to have. Installing Node on Ubunutu is also non-trivial to first timers so this whole guide was pretty useful:

https://github.com/RobotWebTools/roslibjs/blob/develop/utils/README.md

[megawac]

Hows this look @rctoris https://gist.github.com/megawac/15637865f848253c6a83

[rctoris]

# Install this projects Deps
sudo npm install

Non-sudo, here yes?

[megawac]

Building node-canvas (for image decoding) requires install to be called with sudo. I've been debating making it an optionalDependency for that reason

It also appears some older versions of node-canvas don't require it npm i canvas-superjoe

[megawac]

Another option is to write a Install.sh script that supports Ubuntu/OS X

On Fri, Sep 12, 2014 at 1:14 PM, Russell Toris notifications@github.com
wrote:

Install this projects Deps

sudo npm install

Non-sudo, here yes?

—
Reply to this email directly or view it on GitHub
#104 (comment)
.

[megawac]

Another cool thing we can do with this perhaps is mix a bunch of these modules into the ROSLIB.Ros prototype enabling stuff like:

var ROSLIB = require("./");
var ros = new ROSLIB.Ros({
  url : 'ws://localhost:9090'
});
var turtles = ros.Topic({
  name: '/turtle1/pose'
});

// Instead of
var ROSLIB = require("./");
var ros = new ROSLIB.Ros({
  url : 'ws://localhost:9090'
});
var turtles = new ROSLIB.Topic({
  ros: ros,
  name: '/turtle1/pose'
});

smt like

['ActionClient', 'SimpleActionServer', 'Param', 'Service', 'Topic', 'TFClient'].forEach(function(className) {
    var Class = ROSLIB[className];
    Ros.prototype[className] = function(options) {
        options.ros = this;
        return new Class(options);
    };
});

[rctoris]

I think that introduces a pretty major API change though.

[rctoris]

Side note: var ROSLIB = require("./"); isn't necessary in the browser library, correct?

[megawac]

Nope. ROSLIB is exposed for the browser. On top of that if the page has an AMD library, roslibjs will be exported ontop of adding the ROSLIB global

BTW - I was suggesting that for post patch - and if that is implemented it would be backwards compatible.

[megawac]

Rebased --- Have been running the examples/integration_tests I've tested so far without issue. Is there anything

I've been playing around a bit further and have been using this like below:

var Ros = require("roslibjs/src/core/Ros");
var ros = new Ros(/*connect to rosbridge*/);

var navsat = ros.Topic({
  name: '/navsat/fix',
  messageType: 'sensor_msgs/NavSatFix'
});

Areas for further exploration include connecting to bridge via a TCP socket instead of a websocket (w/o impacting the clientside code), topic -> stream, some refactoring

[megawac]

Roslib TF example

Node version -- nearly identical...

var Ros = require('../src/core/Ros');
var TFClient = require('../src/tf/TFClient');
var ros = new Ros();
ros.on('error', function(error) {
    console.log(error);
});
ros.on('connection', function() {
    console.log('Connection made!');
});
ros.on('close', function() {
    console.log('Connection closed.');
});
ros.connect('ws://localhost:9090');
var tfClient = new TFClient({
    ros : ros,
    fixedFrame : 'world',
    angularThres : 0.01,
    transThres : 0.01
});
tfClient.subscribe('turtle1', function(tf) {
    console.log(tf);
});

[megawac]

Alright at this point, I'm happy with the state of things -- few others points I feel out of scope for this pr (e.g. supporting TCP connections). @rctoris any other comments?

[rctoris]

Sorry for the delay in response! Have been on the road the past few days with limited internet access along the way. Will get back to this and the other open requests within the next day or so!!

[rctoris]

Looks great to me! Awesome work here!!! I hated having the separate branches this is perfect.

[jihoonl]

👍

[jihoonl]

Looks sweet! I would like to re-release the new version in npm too. Is there any suggested way?

[jihoonl]

Once I release, I will remove nodejs branch.

[megawac]

Are you planning to change the package name from roslib to roslibjs?
Otherwise it should be straightforward

https://www.npmjs.org/package/roslib

[megawac]

Turns out you don't need to sudo npm install if you own your ~/.npm folder as long as you have cario and other deps installed.