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fixed the pub bug

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This commit is contained in:
Niko Feith 2023-03-27 12:25:10 +02:00
parent eb481e0799
commit b7b1186b58
1 changed files with 10 additions and 3 deletions
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13
ActiveBOWeb/src/components/RosBar.vue
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@ -55,18 +55,23 @@ const stateCounter = ref([0, 0, 0]);
// Open Connection to ROSBridge and subscribe the topics. // Open Connection to ROSBridge and subscribe the topics.
const ros = new ROS.Ros(); const ros = new ROS.Ros();
const ros_eval = new ROS.Ros();
ros.on("connection", () => { ros.on("connection", () => {
stateCounter.value[0] += 1; stateCounter.value[0] += 1;
}); });
ros_eval.on("connection", () => {});
ros.on("error", (error) => { ros.on("error", (error) => {
stateCounter.value[1] += 1; stateCounter.value[1] += 1;
console.log(error); console.log(error);
}); });
ros_eval.on("error", () => {});
ros.on("close", () => { ros.on("close", () => {
stateCounter.value[2] += 1; stateCounter.value[2] += 1;
}); });
ros_eval.on("close", () => {});
function updateConnectionState() { function updateConnectionState() {
connectionState.value = !connectionState.value; connectionState.value = !connectionState.value;
@ -74,9 +79,11 @@ function updateConnectionState() {
formState.connect = "connected"; formState.connect = "connected";
const rosUrl = `ws://${formState.ipaddress}:${formState.port}`; const rosUrl = `ws://${formState.ipaddress}:${formState.port}`;
ros.connect(rosUrl); ros.connect(rosUrl);
ros_eval.connect(rosUrl);
} else { } else {
formState.connect = "not connected"; formState.connect = "not connected";
ros.close(); ros.close();
ros_eval.close();
} }
} }
@ -120,7 +127,7 @@ rl_feedback_subscriber.subscribe((msg) => {
}); });
const active_rl_eval_sub = new ROSLIB.Topic({ const active_rl_eval_sub = new ROSLIB.Topic({
ros: ros, ros: ros_eval,
name: "/active_rl_eval_request", name: "/active_rl_eval_request",
messageType: "active_bo_msgs/msg/ActiveRLEval", messageType: "active_bo_msgs/msg/ActiveRLEval",
}); });
@ -133,7 +140,7 @@ active_rl_eval_sub.subscribe((msg) => {
}); });
const active_rl_eval_pub = new ROSLIB.Topic({ const active_rl_eval_pub = new ROSLIB.Topic({
ros: ros, ros: ros_eval,
name: "/active_rl_eval_response", name: "/active_rl_eval_response",
messageType: "active_bo_msgs/msg/ActiveRLEval", messageType: "active_bo_msgs/msg/ActiveRLEval",
}); });
@ -143,7 +150,7 @@ const active_eval_response_first = new ROSLIB.Message({
weights: pstore.weights, weights: pstore.weights,
}); });
console.log(active_eval_response_first); console.log(active_eval_response_first);
active_rl_eval_pub.publish(active_eval_response_first); // active_rl_eval_pub.publish(active_eval_response_first);
// function sleep(ms) { // function sleep(ms) {
// return new Promise((resolve) => setTimeout(resolve, ms)); // return new Promise((resolve) => setTimeout(resolve, ms));