• View
• Edit
• History
• Print

ROSAccessors

There are 5 accessors so far to interface with ROS:

• RosPublisher.js | jsdoc

This publishes to a pre-established ROS topic through a web socket and rosbridge.

• RosSubscriber.js| jsdoc

This subscribes to a ROS topic through a web socket and rosbridge.

• ScarabGoalPublisher.js| jsdoc

This publishes waypoints to the Scarab ground robot.

• ScarabArrowKeyController.js| jsdoc

This controls the movement of a Scarab robot using the arrow keys. 'U' moves forward, 'L' rotates left, 'R' rotates right and 'D' returns to origin. This accessor does not do any publishing or subscribing. It should take inputs from RosSubscriber (subscribed to '/pose') to subscribe to current pose information and output waypoints to ScarabGoalPublisher.

• ScarabHueController.js| jsdoc

The ScarabHueController accessor turns on the Hue light closest to the Scarab. It takes in Scarab's pose and a lightMap in JSON form. The lightMap is a JSON object of the available Hue lights and their positions.
This accessor should be connected to the RosSubscriber (subscribed to the topic /pose) and the Hue accessor.
At a set interval, this accessor gets the nearest bulb to the Scarab. If this bulb is closer than a set threshold, the light is sent a set of light conditions. The light conditions, interval and threshold are all parameters.
Another accessor could be developed to create the lightMap when the Scarab is in mapping mode.

If you have Ptolemy installed, there is a main demo file of the ROS accessors with the Ptolemy host at

These have recently been added, so if you don't see it,

See Also

• ROS