node-red-contrib-ros

Node-RED nodes for connecting to ROS bridge and subscribe/publish to ROS topics.

These nodes uses roslibjs, the standard ROS Javascrip library. https://github.com/RobotWebTools/roslibjs

install

npm install node-red-contrib-ros

or

node-red-admin install node-red-contrib-ros

configuration

ROS server is the ROS bridge's websocket address. E.g ws://localhost:9000/

usage

ros-publish

Messages sent to publish node need to conform the message type. The publish node retrieves the compiled ROS messages in your workspace. Also custom ROS message will be retrieved. You can also add a ROS timestamp in the message. Note that this is only possible if the ROS message contains a header.

ros-service-call

Requests sent to ros-service-call node need to conform the srv Request type. The service-call node retrieves the compiled ROS services in your workspace. Also custom ROS services will be retrieved. The service response will be sent as a payload.

ros-subscribe

Messages are received using the ros-subscribe node. The payload is the content of the ROS message.

ros-time

This node outputs a ROS time stamp. You can select two modes: 1) Timed and 2) Input. The first mode outputs the time stamp at a specific rate. The second mode outputs the time stamp when receiving an input message. In the latter mode, you can choose to add the stamp to the input message and/or to add a header with stamp to the input message.

sample flow

This sample flow is outdated

[{"id":"b4238dd8.4de73","type":"tab","label":"Test ROS","disabled":false,"info":""},{"id":"bea48291.f1bba","type":"ros-subscribe","z":"b4238dd8.4de73","server":"ee3330f0.5c8af","topicname":"/st","x":170,"y":145,"wires":[["438e6d48.a9cc4c"]]},{"id":"438e6d48.a9cc4c","type":"debug","z":"b4238dd8.4de73","name":"","active":true,"console":"false","complete":"true","x":330,"y":145,"wires":[]},{"id":"11d3437d.505b0d","type":"ros-time","z":"b4238dd8.4de73","mode":"Timed","sampletime":"1","addstamp2input":false,"addheader2input":false,"x":175,"y":75,"wires":[["ab7795ef.fc3b88"]]},{"id":"ab7795ef.fc3b88","type":"debug","z":"b4238dd8.4de73","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"true","targetType":"full","x":330,"y":75,"wires":[]},{"id":"b4340ad8.57b428","type":"inject","z":"b4238dd8.4de73","name":"","topic":"","payload":"{\"header\":{\"seq\":0,\"stamp\":{\"secs\":0,\"nsecs\":0},\"frame_id\":\"\"},\"status\":{\"status\":0,\"service\":0},\"latitude\":0,\"longitude\":0,\"altitude\":0,\"position_covariance\":[0,0,0,0,0,0,0,0,0],\"position_covariance_type\":0}","payloadType":"json","repeat":"","crontab":"","once":true,"onceDelay":"1","x":105,"y":280,"wires":[["34001ee9.1da0ba","c3be5e3.251c62"]]},{"id":"34001ee9.1da0ba","type":"function","z":"b4238dd8.4de73","name":"set lon lat","func":"msg.payload.latitude = 49.083205;\nmsg.payload.longitude = -35.762847;\nreturn msg;","outputs":1,"noerr":0,"x":300,"y":280,"wires":[["3bf5134f.4a5e1c","3d6dceba.8efd22"]]},{"id":"c3be5e3.251c62","type":"ros-time","z":"b4238dd8.4de73","mode":"On input","sampletime":"20","addstamp2input":false,"addheader2input":true,"x":310,"y":220,"wires":[["e00fcb25.98a55"]]},{"id":"3bf5134f.4a5e1c","type":"ros-publish","z":"b4238dd8.4de73","server":"72fc6571.2d53c4","topicname":"/gps/fix","typepackage":"sensor_msgs","typename":"NavSatFix","stampheader":true,"x":520,"y":280,"wires":[]},{"id":"3d6dceba.8efd22","type":"debug","z":"b4238dd8.4de73","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"true","targetType":"full","x":510,"y":225,"wires":[]},{"id":"e00fcb25.98a55","type":"debug","z":"b4238dd8.4de73","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"true","targetType":"full","x":510,"y":185,"wires":[]},{"id":"ee3330f0.5c8af","type":"ros-server","z":"b4238dd8.4de73","url":"ws://localhost:9090/"},{"id":"72fc6571.2d53c4","type":"ros-server","z":"","url":"ws://0.0.0.0:9090"}]