$('#presentation').on('click', 'input', function (e) {
var action = new ROSLIB.ActionClient({
ros: ros,
serverName: 'action_server/task',
actionName: 'action_server_msgs/TaskAction',
});
var lang = e.currentTarget.value;
switch (lang) {
case 'English':
lang = 'en';
break;
case 'Dutch':
lang = 'nl';
break;
default:
console.error('Unknown language');
}
var recipe = {
actions: [{
action: 'demo-presentation',
language: lang,
}]
}
var goal = new ROSLIB.Goal({
actionClient: action,
goalMessage: {
recipe: JSON.stringify(recipe)
}
});
goal.send();
});
function handleActionlib(skill_command) {
var actionlib = new ROSLIB.ActionClient({
ros : ros,
serverName: 'execute_command',
actionName: 'amigo_skill_server/ExecuteAction'
});
var goal = new ROSLIB.Goal({
actionClient : actionlib,
goalMessage : {
command : skill_command
}
});
goal.send();
}
function handleAmigoGripperCommand(device,argument) {
var action = new ROSLIB.ActionClient({
ros: ros,
serverName: device + '/action',
actionName: 'tue_manipulation_msgs/GripperCommandAction',
timeout: 10,
});
var goal = new ROSLIB.Goal({
actionClient: action,
goalMessage: {
command: {
direction : parseInt(argument, 10),
max_torque : 50
}
}
});
goal.send();
}
function handleJointState(device,name_arguments,position_arguments) {
/* parse argument array */
position_arguments = position_arguments.split(',');
for (var i=0; i<position_arguments.length; i++) {
position_arguments[i] = parseFloat(position_arguments[i]);
}
/* Joint names */
name_arguments = name_arguments.split(',');
console.log('device: ', device);
console.log('name_arguments: ', name_arguments);
console.log('position_arguments: ', position_arguments);
var action = new ROSLIB.ActionClient({
ros: ros,
serverName: 'body/joint_trajectory_action',
actionName: 'control_msgs/FollowJointTrajectoryAction',
timeout: 10,
});
var goal = new ROSLIB.Goal({
actionClient: action,
goalMessage: {
trajectory: {
joint_names: name_arguments,
points: [{
positions: position_arguments
}]
}
}
});
goal.send();
}
function handleHeadRef(argument) {
var action = new ROSLIB.ActionClient({
ros: ros,
serverName: 'head_ref/action_server',
actionName: 'head_ref/HeadReferenceAction',
timeout: 10,
});
argument = argument.split(',');
for (var i=0; i<argument.length; i++) {
argument[i] = parseFloat(argument[i]);
}
var goal = new ROSLIB.Goal({
actionClient: action,
goalMessage: {
goal_type: 1,
pan: argument[0],
tilt: argument[1],
}
});
goal.send();
}