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RobotWebTools / ros2-web-bridge

Bridging your browser to the ROS 2.0
Apache License 2.0
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Connected but no topics #145

Closed maxlein closed 4 years ago

maxlein commented 4 years ago

Hi,

just tried your bridge and i am wondering how I can debug the bridge more.
I only get: 

Websocket started on ws://localhost:9090
(node:38087) DeprecationWarning: Deep requiring like `const uuidv4 = require('uuid/v4');` is deprecated as of uuid@7.x. Please require the top-level module when using the Node.js CommonJS module or use ECMAScript Modules when bundling for the browser. See https://github.com/uuidjs/uuid#deep-requires-now-deprecated for more information.

The warning comes when I connect to the bridge.
I was using the ros1 bridge before with the same data and I could echo my data there.
With ros1 bridge there is log output when new topics are registered.
Is there something similar with this lib?

minggangw commented 4 years ago

Thanks for your question and hope I can help, see below:

The warning comes when I connect to the bridge.

This warning will not influence the functionalities I think.

Is there something similar with this lib?

Please reference https://github.com/RobotWebTools/ros2-web-bridge/issues/33#issuecomment-362468184 which may help you, thanks!

maxlein commented 4 years ago

Thanks, now I am getting some Info!

It looks like ROS# is publishing ROS1 header msgs, because the time is called "secs" and not "sec" as wanted in ROS2.

ros2-web-bridge:Bridge JSON command received: {"topic":"unity_pose","msg":{"header":{"seq":1099,"stamp":{"secs":23,"nsecs":609434127},"frame_id":"base_link"},"pose":{"position":{"x":-0.00117289787,"y":-0.7621595,"z":-0.182284892},"orientation":{"x":0.000002394576,"y":0.000699281169,"z":-0.000125215534,"w":0.999999762}}},"op":"publish","id":"unity_pose"} +0ms
  ros2-web-bridge:Bridge Publish a topic named unity_pose with {"header":{"seq":1099,"stamp":{"secs":23,"nsecs":609434127},"frame_id":"base_link"},"pose":{"position":{"x":-0.00117289787,"y":-0.7621595,"z":-0.182284892},"orientation":{"x":0.000002394576,"y":0.000699281169,"z":-0.000125215534,"w":0.999999762}}} +0ms
  ros2-web-bridge:Bridge Response: {"op":"status","level":"error","msg":"publish: TypeError: Invalid argument: sec in Time","id":"unity_pose"} +1ms
minggangw commented 4 years ago

Yes, the definition of Time is different in ROS1 and ROS2, see:

ROS1: http://wiki.ros.org/msg ROS2: https://github.com/ros2/rcl_interfaces/blob/master/builtin_interfaces/msg/Time.msg

I think you have to rename the keys if you want to publish the topic to ROS2.