index_rclnode.js

'use strict';

const express = require('express');
const app = express();
app.use(express.static('../examples/html'));

app.listen(3000);
console.log('The web server started on http://localhost:3000');

const rclnodejs = require('rclnodejs');

rclnodejs
  .init()
  .then(() => {
    const node = rclnodejs.createNode('publisher_message_example_node');
    const publisher = node.createPublisher(
      'geometry_msgs/msg/PoseStamped',
     // 'PoseStamped'
     '/test_topic'
    );
    let count = 0;

    setInterval(function () {
      publisher.publish({
        header: {
          stamp: {
            sec : 0, 
            nanosec : 100
          },
          frame_id : "map"              
        },
        pose: {
          position: {
            x : 0.0,
            y : 0.0,
            z : 0.0
          },
          orientation: {
            x : 0.0,
            y : 0.0,
            z : 0.0,
            w : 1.0
          }
        }
});
      console.log(`Publish ${++count} messages.`);
    }, 1000);

    rclnodejs.spin(node);
  })
  .catch((e) => {
    console.log(e);
  });