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to interface with components in RoMi","homepage":"https://github.com/osrf/romi-js-core-interfaces#readme","repository":{"type":"git","url":"git+https://github.com/osrf/romi-js-core-interfaces.git"},"author":{"name":"Teo Koon Peng","email":"koonpeng@openrobotics.org"},"bugs":{"url":"https://github.com/osrf/romi-js-core-interfaces/issues"},"license":"Apache-2.0","readme":"![master](https://github.com/osrf/romi-js-core-interfaces/workflows/master/badge.svg)\n\n# About RoMi-js\n\nRoMi-js is a set of libraries to make it easier to interface with RoMi with nodejs or in the\nbrowser.\n\n# Requirements\n\nThe typings generated by this library requires an es6 compatible runtime and the following:\n\n* bigint\n\nRecent versions of most browsers/nodejs should support them.\n\n# Installing\n\n```\nnpm install @osrf/romi-js-core-interfaces\n```\n\n# Using RoMi-js\n\nRoMi-js aims to provide an easy to use and flexible architecture. There are 2 main components in\nRoMi-js, the interfaces which describes the topics and messages that connects to RoMi and a\ntransport that facilite the sending and receiving of these messages.\n\nTo use RoMi-js, first you have to choose a transport library suitable for your use case. Currently\nthere are 2 transport libraries available using rclnodejs and soss, rclnodejs only works on node\nwhile soss only works on the browser. Install one of them depending on your use case\n\n```\nnpm install @osrf/romi-js-rclnodejs-transport\n```\nor\n```\nnpm install @osrf/romi-js-soss-transport\n```\n\nThis example will use `@osrf/romi-js-rclnodejs-transport` but the code for other transports will be\nalmost the same.\n\n## Typescript\n\nRoMi-js can be used with either javascript or typescript. One of the main advantage of using RoMi-js\nas opposed to rclnodejs or soss directly is the type information it provides so it is recommended to\nuse RoMi-js with typescript if possible.\n\n## Obtaining an instance of transport\n\nEach transport may have a different way to obtain an instance, in the case of the rclnodejs\ntransport, we need to use a `create` static async method.\n\n```ts\nimport { RclnodejsTransport } from '@osrf/romi-js-rclnodejs-transport';\n\nasync function main() {\n  const transport = await RclnodejsTransport.create('nodeName');\n}\n```\n\n## Receiving messages\n\nEach transport exposes a subscribe method to start listening to incoming messages, they take in a\n`RomiTopic` which describes the internal interfaces used by ROS2. This package provides the core\ninterfaces used by RoMi, here is an example that subscribes and prints out the fleet state.\n\n```ts\nimport { RclnodejsTransport } from '@osrf/romi-js-rclnodejs-transport';\nimport * as RomiCore from '@osrf/romi-js-core-interfaces';\n\nasync function main() {\n  const transport = await RclnodejsTransport.create('nodeName');\n  transport.subscribe(RomiCore.fleetStates, fleetState => console.log(fleetState));\n}\n```\n\n## Sending messages\n\nSending messages is a matter of creating a publisher and then calling the publish method. The\nexample below will send a request to open a door.\n\n```ts\nimport { RclnodejsTransport } from '@osrf/romi-js-rclnodejs-transport';\nimport * as RomiCore from '@osrf/romi-js-core-interfaces';\n\nasync function main() {\n  const transport = await RclnodejsTransport.create('nodeName');\n  const publisher = transport.createPublisher(RomiCore.doorRequests);\n  publisher.publish({\n    door_name: 'doorName',\n    request_time: RomiCore.toRosTime(new Date()),\n    requested_mode: { value: RomiCore.DoorMode.MODE_OPEN },\n    requester_id: 'nodeName',\n  });\n}\n```\n\n## Calling a service\n\n```ts\nimport { RclnodejsTransport } from '@osrf/romi-js-rclnodejs-transport';\nimport * as RomiCore from '@osrf/romi-js-core-interfaces';\n\nasync function main() {\n  const transport = await RclnodejsTransport.create('nodeName');\n  const resp = await transport.call(RomiCore.getBuildingMap, {});\n  const buildingMap = resp.building_map;\n}\n```\n\n## Hosting a service\n\nUse `createService` to get a `Service` object that can be used to listen and response to incoming\nrequests.\n\n```ts\nimport { RclnodejsTransport } from '@osrf/romi-js-rclnodejs-transport';\nimport * as RomiCore from '@osrf/romi-js-core-interfaces';\n\nasync function main() {\n  const transport = await RclnodejsTransport.create('nodeName');\n  const service = transport.createService(RomiCore.getBuildingMap);\n  service.start(req => {\n    /* do stuff */\n  });\n}\n```\n\nThe handler can be an async function\n\n```ts\nservice.start(async req => {\n  /* do stuff */\n});\n```\n\n# Advanced Usage\n\n## Skipping validation\n\nWhen a message is received RoMi-js checks that it is the correct type, in some cases where\nperformance is critical and you know the messages are correct you can skip the validation with a\nhelper method.\n\n```ts\nimport * as RomiCore from '@osrf/romi-js-core-interfaces'\n\nconst skipped = RomiCore.skipValidation(RomiCore.fleetStates);\n```\n\n## Specifying ROS2 QoS options\n\nSometimes you may wish to use different QoS options or in some cases there are topics that require\ndifferent QoS options to work. If you are using the topics in RomiCore, the expected QoS options\nwill be automatically set, to use a different QoS options, just pass in the options in\n`createPublisher` and `subscribe`.\n\n## Using the underlying transport directly\n\nThe `Transport` interface provides an abstraction over common use cases, in some cases, you might\nnot want to use the interface as some features or APIs might not be exposed. Due to the flexible\nnature of RoMi-js, it is possible to use the transport directly while still getting some of the\nadvantages of RoMi-js.\n\nThe example below uses rclnodejs directly.\n\n```ts\nimport * as rclnodejs from 'rclnodejs';\nimport * as RomiCore from '@osrf/romi-js-core-interfaces';\n\nasync function main() {\n  await rclnodejs.init();\n  const node = rclnodejs.createNode('nodeName');\n  const rclOptions = RomiCore.doorStates.options ?\n    RclnodejsTransport.toRclnodejsOptions(RomiCore.doorStates.options) : undefined;\n  const publisher = rclnodejs.createPublisher(\n    RclnodejsTransport.toRclnodejsTypeClass(RomiCore.doorStates),\n    RomiCore.doorStates.topic,\n    rclOptions,\n  );\n}\n```\n\nNote that different transports have different rules as to how the type, topic, service etc are\ninterpreted, when using the transport directly, it is up to you to provide arguments that the\ntransport understands.\n\n# Building\n\nThis package can be built using colcon or npm, it is recommended to build with colcon as that has\nthe advantage of making sure the dependencies are up to date.\n\n## Using colcon\n\nCreate a colcon workspace.\n```\nmkdir -p colcon_ws/src\n```\nRefer to the [colcon documentation](https://colcon.readthedocs.io/en/released/) for more details on\nhow a colcon workspace works.\n\nCheckout the required dependencies.\n```\ncd colcon_ws/src\ngit clone --depth 1 https://github.com/osrf/rmf_core.git\ngit clone --depth 1 https://github.com/osrf/traffic_editor\ngit clone https://github.com/osrf/romi-js-core-interfaces\n```\n\nRefer to the documentations of [rmf_core](https://github.com/osrf/rmf_core#Installation) and\n[traffic_editor](https://github.com/osrf/traffic_editor#Installation) to prepare the workspace to\nbuild them.\n\nRun colcon in the workspace directory.\n```\ncd colcon_ws\ncolcon build\n```\n\n## Using npm\n\nFollow the instructions of [rmf_core](https://github.com/osrf/rmf_core#Installation) and\n[traffic_editor](https://github.com/osrf/traffic_editor#Installation) to build and install them.\n\nInstall and build with npm\n```\nnpm install\n\nnpm build\n```\n\nObs: installing [jinja2](https://pypi.org/project/Jinja2/) with python is pre-requisite to build.","readmeFilename":"README.md"}