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// Connects to the rosbridge WebSocket server.
var ros = new ROS('ws://localhost:9090');

// ros.Topic provides publish and subscribe support for a ROS topic.
// Creates a geometry_msgs/Twist topic named /cmd_vel.
var cmdVel = new ros.Topic({
  node        : 'talker'
, name        : '/cmd_vel'
, messageType : 'geometry_msgs/Twist'
});

// ros.Message contains the data to publish.
var twist = new ros.Message({
  angular: {
    x: 1
  , y: 0
  , z: 0
  }
, linear: {
    x: 0
  , y: 0
  , z: 0
  }
});

// The geometry_msgs/Twist message will be published in ROS.
cmdVel.publish(twist);

// Create a std_msgs/String topic named /listener.
var listener = new ros.Topic({
  node        : 'chat'
, name        : '/listener'
, messageType : 'std_msgs/String'
});

// Any time a message is published to the /listener topic, the callback will
// fire.
listener.subscribe(function(message) {
  // message is an instance of ros.Message.
  console.log('Received message ' + message.data);
});

// ros.Service provides an interface to calling ROS services.
// Creates a rospy_tutorials/AddTwoInts service client named /add_two_ints.
var addTwoIntsClient = new ros.Service({
  name        : '/add_two_ints'
, serviceType : 'rospy_tutorials/AddTwoInts'
});

// ros.ServiceRequest contains the data to send in the service call.
var request = new ros.ServiceRequest({ A: 1, B: 2});

// Calls the rospy_tutorials/AddTwoInts service with the result stored in the
// callback.
addTwoIntsClient.callService(request, function(result) {
  console.log('Result for service call on ' + addTwoIntsClient.name + ': ' + result.sum);
});

// ros.Param interfaces with the ROS Parameter Server.
var maxVelX = new ros.Param({
  name: 'max_vel_x'
});

// Sets the ROS param value.
maxVelX.set(0.75);

var maxVelX = new ros.Param({
  name: 'max_vel_x'
});

// Fetches and returns the param value in the callback.
maxVelX.get(function(value) {
  console.log('Value of ' + maxVelX.name + ' is ' + value);
});

// Retrieves the current list of topics in ROS
ros.getTopicList(function(topics) {
  console.log('Current topics in ROS: ' + topics);
});

// Fetches list of all active services in ROS
ros.getServiceList(function(services) {
  console.log('Current services in ROS: ' + services);
});

// Gets param names stored in the ROS Parameter Server
ros.getParamList(function(params) {
  console.log('Current params in ROS: ' + params);
});

var ros = new ROS('ws://localhost:9090');
ros.on('connection', function() {
  // This code will only be executed after ROS has connected to the server.
});

ros.on('close', function() {
  // This code will be executed when the connection to ROS disconnects.
});

var ros = new ROS('ws://localhost:9090');
ros.on('error', function(error) {
  console.log('There was an error with ROS: ' + error);
});