Merge branch 'RobotWebTools:develop' into develop

Author: mattsroufe

.travis.yml

@@ -9,6 +9,7 @@ branches:
   - master
 
 before_install:
+  - sudo docker login -u $DOCKER_USERNAME -p $DOCKER_PASSWORD
   - sudo docker pull ubuntu:bionic
   - sudo docker build -t rcldocker .
 

Dockerfile

@@ -1,4 +1,4 @@
-FROM ubuntu:bionic
+FROM ubuntu:focal
 
 ENV GIT_USER_NAME mrbuild
 ENV GIT_USER_EMAIL mrbuild@github.com
@@ -9,16 +9,14 @@ ENV LANG en_US.UTF-8
 
 RUN apt install -y gnupg2 lsb-release
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
-RUN sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+RUN sh -c 'echo "deb [arch=amd64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
 
 # Install prerequisites
 RUN export DEBIAN_FRONTEND=noninteractive && apt update && apt install -y \
   build-essential \
-  cmake \
   python3-colcon-common-extensions \
-  python3-pip \
-  python-rosdep \
-  libpython3-dev \
+  python3-rosdep \
+  libssl-dev \
   cppcheck
 
 RUN rosdep init
@@ -32,17 +30,17 @@ RUN git config --global user.name $GIT_USER_NAME \
 ENV ROS2_WS=/root
 WORKDIR $ROS2_WS
 
-RUN wget https://github.com/ros2/ros2/releases/download/release-eloquent-20200124/ros2-eloquent-20200124-linux-bionic-amd64.tar.bz2 \
-    && tar xf ros2-eloquent-20200124-linux-bionic-amd64.tar.bz2
+RUN wget https://github.com/ros2/ros2/releases/download/release-foxy-20201211/ros2-foxy-20201211-linux-focal-amd64.tar.bz2 \
+    && tar xf ros2-foxy-20201211-linux-focal-amd64.tar.bz2
 
-# [Ubuntu 18.04]
-RUN rosdep install --from-paths $ROS2_WS/ros2-linux/share --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 osrf_testing_tools_cpp poco_vendor rmw_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"
+# [Ubuntu 20.04]
+RUN rosdep install --from-paths $ROS2_WS/ros2-linux/share --ignore-src --rosdistro foxy -y --skip-keys "console_bridge fastcdr fastrtps osrf_testing_tools_cpp poco_vendor rmw_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"
 
 RUN echo "source $ROS2_WS/ros2-linux/local_setup.bash" >> $HOME/.bashrc
 
 # Install nvm, Node.js and node-gyp
-ENV NODE_VERSION v12.16.1
-RUN wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.35.2/install.sh | bash \
+ENV NODE_VERSION v12.20.0
+RUN wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.37.2/install.sh | bash \
     && . $HOME/.nvm/nvm.sh \
     && nvm install $NODE_VERSION && nvm alias default $NODE_VERSION
 

README.md

@@ -4,9 +4,9 @@
 
 ## Server Implementations of the rosbridge v2 Protocol
 
-ros2-web-bridge, which leverages the [rclnodejs](https://github.com/RobotWebTools/rclnodejs) client, provides a JSON interface to [ROS 2.0](https://github.com/ros2/ros2/wiki) by adopting the [rosbridge v2 protocol](https://github.com/RobotWebTools/rosbridge_suite/blob/develop/ROSBRIDGE_PROTOCOL.md). The bridge can process commands through JSON tuneled over WebSockets.
+ros2-web-bridge, which leverages the [rclnodejs](https://github.com/RobotWebTools/rclnodejs) client, provides a JSON interface to [ROS 2](https://index.ros.org/doc/ros2/) by adopting the [rosbridge v2 protocol](https://github.com/RobotWebTools/rosbridge_suite/blob/develop/ROSBRIDGE_PROTOCOL.md). The bridge can process commands through JSON tuneled over WebSockets.
 
-## ROS2 support
+## ROS 2 support
 
 The ros2-web-bridge **SUPPORTS** the latest ROS 2 stable release by default (currently [Dashing Patch 2](https://github.com/ros2/ros2/releases/tag/release-dashing-20190806)), please visit the [relase channel](https://github.com/ros2/ros2/releases) to check out the information.
 
@@ -20,47 +20,40 @@ A client is a program that communicates with ros2-web-bridge using its JSON API.
 
 ## Install
 
-1.Prepare for ROS2
-
-Please reference the [wiki](https://index.ros.org/doc/ros2/Installation/) to install ROS2.
-
-2.Install `Node.js`
-You can install Node.js:
-
-* Download from Node.js offical [website](https://nodejs.org/en/), and install it.
-* Use the Node Version Manager ([nvm](https://github.com/creationix/nvm)) to install it.
-
-3.Install dependencies
-
-```javascript
-npm install
-```
+1. Prepare for ROS 2
+    Please reference the [documentation](https://index.ros.org/doc/ros2/Installation/) to install ROS 2.
+2. Install `Node.js`
+    You can install Node.js:
+    * Download from Node.js offical [website](https://nodejs.org/en/), and install it.
+    * Use the Node Version Manager ([nvm](https://github.com/creationix/nvm)) to install it.
+3. Clone and install dependencies
+    Note that a ROS 2 installation has to be sourced before installing dependencies.
+    ```bash
+    $ git clone https://github.com/RobotWebTools/ros2-web-bridge.git
+    $ cd ros2-web-bridge
+    $ source /opt/ros/$DISTRO/setup.sh  # or a source installation
+    $ npm install
+    ```
 
 ## Run Examples
 
-1.Start `ros2-web-bridge` module:
-
-```bash
-node bin/rosbridge.js
-```
-
-If you want to start in client mode (i.e. connecting the bridge to an existing websocket server), do this instead:
-
-```bash
-node bin/rosbridge.js --address ws://<address>:<port>
-```
-
-2.Start the [express](https://www.npmjs.com/package/express) server:
-
-```bash
-cd examples && node index.js
-```
-
-3.Open your browser, and navigate to URL:
-
-``` bash
-http://localhost:3000/html/publisher.html
-```
+1. Make sure to source a ROS 2 installation, e.g.:
+    ```bash
+    $ source /opt/ros/$DISTRO/setup.sh  # or a source installation
+    ```
+2. Start `ros2-web-bridge` module:
+    ```bash
+    $ node bin/rosbridge.js
+    ```
+    If you want to start in client mode (i.e. connecting the bridge to an existing websocket server), do this instead:
+    ```bash
+    $ node bin/rosbridge.js --address ws://<address>:<port>
+    ```
+3. Start the [express](https://www.npmjs.com/package/express) server:
+    ```bash
+    $ cd examples && node index.js
+    ```
+4. Open your browser, and navigate to URL: http://localhost:3000/html/publisher.html
 
 ## Not supported `op`
 
@@ -85,21 +78,20 @@ subscribe | The type of the topic is [optional](https://github.com/RobotWebTools
 
 If you use [roslibjs](https://static.robotwebtools.org/roslibjs/current/roslib.js) as the client running in the browser, please reference the code snippet below:
 
-* Subscribe a topic.
-
-```JavaScript
-// Define a topic with its type.
-var example = new ROSLIB.Topic({
-  ros : ros,
-  name : '/example_topic',
-  messageType : 'std_msgs/String'
-});
-
-// Subscribe a topic.
-example.subscribe(function(message) {
-  console.log(`Receive message: ${message}`);
-});
-```
+* Subscribe to a topic.
+  ```JavaScript
+  // Define a topic with its type.
+  var example = new ROSLIB.Topic({
+    ros : ros,
+    name : '/example_topic',
+    messageType : 'std_msgs/String'
+  });
+
+  // Subscribe to a topic.
+  example.subscribe(function(message) {
+    console.log(`Receive message: ${message}`);
+  });
+  ```
 
 ## Contributing
 

appveyor.yml

@@ -5,7 +5,7 @@ branches:
     - master
     - develop
 
-image: Visual Studio 2017
+image: Visual Studio 2019
 
 environment:
   nodejs_version: "12"
@@ -22,16 +22,17 @@ before_build:
   - choco install -y vcredist140
   - "SET PATH=C:\\Program Files\\CMake\\bin;%PATH%"
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/asio.1.12.1.nupkg
+  - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2020-02-24/bullet.2.89.0.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/cunit.2.1.3.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/eigen.3.3.4.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/tinyxml-usestl.2.6.2.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/tinyxml2.6.0.0.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/log4cxx.0.10.0.nupkg
-  - choco install -y -s c:\download\ asio cunit eigen tinyxml-usestl tinyxml2 log4cxx
-  - appveyor DownloadFile https://github.com/ros2/ros2/releases/download/release-eloquent-20200124/ros2-eloquent-20200124-windows-release-amd64.zip
-  - 7z x -y "c:\download\ros2-eloquent-20200124-windows-release-amd64.zip" -o"c:\" > nul
-  - setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg
-  - set PATH=C:\OpenSSL-Win64\bin;%PATH%
+  - choco install -y -s c:\download\ asio bullet cunit eigen tinyxml-usestl tinyxml2 log4cxx
+  - appveyor DownloadFile https://github.com/ros2/ros2/releases/download/release-foxy-20201211/ros2-foxy-20201211-windows-release.amd64.zip
+  - 7z x -y "c:\download\ros2-foxy-20201211-windows-release.amd64.zip" -o"c:\" > nul
+  - setx -m OPENSSL_CONF C:\OpenSSL-v111-Win64\bin\openssl.cfg
+  - set PATH=C:\OpenSSL-v111-Win64\bin;%PATH%
   - setx AMENT_PYTHON_EXECUTABLE "c:\Python37"
   - refreshenv
   - "SET PATH=%PYTHON3%;%PYTHON3%\\bin;%PYTHON3%\\Scripts;%PATH%"
@@ -49,6 +50,6 @@ build_script:
   - npm run lint
 
 test_script:
-  - cmd: call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\Common7\Tools\VsDevCmd.bat"
-  - "SET PATH=%PYTHON3%;%PYTHON3%\\bin;%PYTHON3%\\Scripts;%PATH%"
+  - cmd: call "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\Common7\Tools\VsDevCmd.bat"
+  - "SET PATH=%PYTHON3%;%PYTHON3%\\bin;%PYTHON3%\\Scripts;C:\\Program Files\\CMake\\bin;%PATH%"
   - npm run ci

index.js

@@ -60,13 +60,26 @@ function createServer(options) {
   return rclnodejs.init()
     .then(() => {
       node = rclnodejs.createNode('ros2_web_bridge');
-      rclnodejs.spin(node);
       debug('ROS2 node started');
+      let timeout = options.delay_between_messages;
+      if (timeout == undefined) {
+        timeout = 0;
+      }
       createConnection(options);
+      spin(node, timeout);
     })
     .catch(error => shutDown(error));
 }
 
+function spin(node, timeout) {
+  if (rclnodejs.isShutdown()) {
+    shutDown();
+    return;
+  }
+  node.spinOnce();
+  setTimeout(spin, timeout, node, timeout);
+}
+
 function createConnection(options) {
   if (options.address != null) {
     debug('Starting in client mode; connecting to ' + options.address);
@@ -124,6 +137,8 @@ function createConnection(options) {
 
   let wsAddr = options.address || `ws://localhost:${options.port}`;
   console.log(`Websocket started on ${wsAddr}`);
+  // gracefuly shutdown rosbridge node commanding terminal
+  process.on('SIGINT', () => process.exit(1));
 }
 
 module.exports = {

lib/bridge.js

@@ -189,6 +189,11 @@ class Bridge extends EventEmitter {
     this._registerOpMap('publish', (command) => {
       debug(`Publish a topic named ${command.topic} with ${JSON.stringify(command.msg)}`);
 
+      if (!this._topicsPublished.has(command.topic)) {
+        let error = new Error(`The topic ${command.topic} does not exist`);
+        error.level = 'error';
+        throw error;
+      }
       let publisher = this._resourceProvider.getPublisherByTopicName(command.topic);
       if (publisher) {
         publisher.publish(command.msg);

package.json

@@ -1,6 +1,6 @@
 {
   "name": "ros2-web-bridge",
-  "version": "0.3.0",
+  "version": "0.3.1",
   "description": "Bridge the web clients to ROS2.0 by a JSON interface",
   "main": "index.js",
   "keywords": [

test/nodejs/protocol/test-call-service.js

@@ -139,8 +139,10 @@ module.exports = function() {
 
         if (response.op === 'status') {
           assert.deepStrictEqual(response.level, testData.opStatus);
-          ws.close();
-          done();
+          if (testData.responseCount === 1) {
+            ws.close();
+            done();
+          }
         }
         if (testData.expectedResponse && response.op === testData.expectedResponse.op) {
           assert.deepStrictEqual(response.result, testData.expectedResponse.result);