cfpperche2/console.log.js

## console.log.js
d
  _conf: Object
  _events: Object
  event: "connection"
  groovyCompatibility: false
  idCounter: 5
  isConnected: true
  socket: WebSocket
  __proto__: d

Connected to websocket server.

## index.html
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />

<script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script type="text/javascript" src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>

<script type="text/javascript" type="text/javascript">
  // Connecting to ROS
  // -----------------

  var ros = new ROSLIB.Ros({
    url : 'ws://localhost:9090',
    groovyCompatibility: false,
  });

  console.dir(ros);

  ros.on('connection', function() {
    console.log('Connected to websocket server.');
  });

  ros.on('error', function(error) {
    console.log('Error connecting to websocket server: ', error);
  });

  ros.on('close', function() {
    console.log('Connection to websocket server closed.');
  });

  var listener = new ROSLIB.Topic({
    ros : ros,
    name : '/listener',
    messageType : 'std_msgs/String'
  });

  listener.subscribe(function(message) {
    console.log('Received message on ' + listener.name + ': ' + message.data);
    listener.unsubscribe();
  });

  ros.getNodes(function(nodes) {
    console.log(nodes);
  });
  ros.getTopics(function(topics) {
    console.log(topics);
  });
  ros.getServices(function(services) {
    console.log(services);
  });
  ros.getParams(function(params) {
    console.log(params);
  });

</script>
</head>

<body>
  <h1>Simple roslib Example</h1>
  <p>Check your Web Console for output.</p>
</body>
</html>

## roslaunch.sh
roslaunch rosbridge_server rosbridge_websocket.launch

# outpout

... logging to /home/vilma/.ros/log/fbe52fe6-0048-11e6-825b-240a64b68157/roslaunch-vilma-1951.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://vilma:45653/

SUMMARY
========

PARAMETERS
 * /rosbridge_websocket/address:
 * /rosbridge_websocket/authenticate: False
 * /rosbridge_websocket/delay_between_messages: 0
 * /rosbridge_websocket/fragment_timeout: 600
 * /rosbridge_websocket/max_message_size: None
 * /rosbridge_websocket/port: 9090
 * /rosbridge_websocket/retry_startup_delay: 5
 * /rosdistro: indigo
 * /rosversion: 1.11.16

NODES
  /
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)

auto-starting new master
process[master]: started with pid [1963]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fbe52fe6-0048-11e6-825b-240a64b68157
process[rosout-1]: started with pid [1976]
started core service [/rosout]
process[rosbridge_websocket-2]: started with pid [1979]
process[rosapi-3]: started with pid [1997]
registered capabilities (classes):
 - rosbridge_library.capabilities.call_service.CallService
 - rosbridge_library.capabilities.advertise.Advertise
 - rosbridge_library.capabilities.publish.Publish
 - rosbridge_library.capabilities.subscribe.Subscribe
 - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
 - rosbridge_library.capabilities.advertise_service.AdvertiseService
 - rosbridge_library.capabilities.service_response.ServiceResponse
 - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
[INFO] [WallTime: 1460422415.496561] Rosbridge WebSocket server started on port 9090

#when index.html is open in browser

[INFO] [WallTime: 1460422717.531417] Client connected.  1 clients total.
[INFO] [WallTime: 1460422717.720001] [Client 0] Subscribed to /listener

# from another terminal, I try to publish a topic to /listener, but browser console does not shows anything
rostopic pub /listener std_msgs/String "Hello, World"
publishing and latching message. Press ctrl-C to terminate
	d
	_conf: Object
	_events: Object
	event: "connection"
	groovyCompatibility: false
	idCounter: 5
	isConnected: true
	socket: WebSocket
	__proto__: d

	Connected to websocket server.
	<!DOCTYPE html>
	<html>
	<head>
	<meta charset="utf-8" />

	<script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
	<script type="text/javascript" src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>

	<script type="text/javascript" type="text/javascript">
	// Connecting to ROS
	// -----------------

	var ros = new ROSLIB.Ros({
	url : 'ws://localhost:9090',
	groovyCompatibility: false,
	});

	console.dir(ros);

	ros.on('connection', function() {
	console.log('Connected to websocket server.');
	});

	ros.on('error', function(error) {
	console.log('Error connecting to websocket server: ', error);
	});

	ros.on('close', function() {
	console.log('Connection to websocket server closed.');
	});

	var listener = new ROSLIB.Topic({
	ros : ros,
	name : '/listener',
	messageType : 'std_msgs/String'
	});

	listener.subscribe(function(message) {
	console.log('Received message on ' + listener.name + ': ' + message.data);
	listener.unsubscribe();
	});

	ros.getNodes(function(nodes) {
	console.log(nodes);
	});
	ros.getTopics(function(topics) {
	console.log(topics);
	});
	ros.getServices(function(services) {
	console.log(services);
	});
	ros.getParams(function(params) {
	console.log(params);
	});

	</script>
	</head>

	<body>
	<h1>Simple roslib Example</h1>
	<p>Check your Web Console for output.</p>
	</body>
	</html>
	roslaunch rosbridge_server rosbridge_websocket.launch

	# outpout

	... logging to /home/vilma/.ros/log/fbe52fe6-0048-11e6-825b-240a64b68157/roslaunch-vilma-1951.log
	Checking log directory for disk usage. This may take awhile.
	Press Ctrl-C to interrupt
	Done checking log file disk usage. Usage is <1GB.

	started roslaunch server http://vilma:45653/

	SUMMARY
	========

	PARAMETERS
	* /rosbridge_websocket/address:
	* /rosbridge_websocket/authenticate: False
	* /rosbridge_websocket/delay_between_messages: 0
	* /rosbridge_websocket/fragment_timeout: 600
	* /rosbridge_websocket/max_message_size: None
	* /rosbridge_websocket/port: 9090
	* /rosbridge_websocket/retry_startup_delay: 5
	* /rosdistro: indigo
	* /rosversion: 1.11.16

	NODES
	/
	rosapi (rosapi/rosapi_node)
	rosbridge_websocket (rosbridge_server/rosbridge_websocket)

	auto-starting new master
	process[master]: started with pid [1963]
	ROS_MASTER_URI=http://localhost:11311

	setting /run_id to fbe52fe6-0048-11e6-825b-240a64b68157
	process[rosout-1]: started with pid [1976]
	started core service [/rosout]
	process[rosbridge_websocket-2]: started with pid [1979]
	process[rosapi-3]: started with pid [1997]
	registered capabilities (classes):
	- rosbridge_library.capabilities.call_service.CallService
	- rosbridge_library.capabilities.advertise.Advertise
	- rosbridge_library.capabilities.publish.Publish
	- rosbridge_library.capabilities.subscribe.Subscribe
	- <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
	- rosbridge_library.capabilities.advertise_service.AdvertiseService
	- rosbridge_library.capabilities.service_response.ServiceResponse
	- rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
	[INFO] [WallTime: 1460422415.496561] Rosbridge WebSocket server started on port 9090

	#when index.html is open in browser

	[INFO] [WallTime: 1460422717.531417] Client connected. 1 clients total.
	[INFO] [WallTime: 1460422717.720001] [Client 0] Subscribed to /listener

	# from another terminal, I try to publish a topic to /listener, but browser console does not shows anything
	rostopic pub /listener std_msgs/String "Hello, World"
	publishing and latching message. Press ctrl-C to terminate