roslib.min.js

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window?window:{})},{"./RosLib":5}],7:[function(e,t,i){function s(e){var t=this;e=e||{},this.ros=e.ros,this.serverName=e.serverName,this.actionName=e.actionName,this.timeout=e.timeout,this.omitFeedback=e.omitFeedback,this.omitStatus=e.omitStatus,this.omitResult=e.omitResult,this.goals={};var i=!1;this.feedbackListener=new n({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.statusListener=new n({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),this.resultListener=new n({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.goalTopic=new n({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),this.cancelTopic=new n({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"}),this.goalTopic.advertise(),this.cancelTopic.advertise(),this.omitStatus||this.statusListener.subscribe(function(e){i=!0,e.status_list.forEach(function(e){var i=t.goals[e.goal_id.id];i&&i.emit("status",e)})}),this.omitFeedback||this.feedbackListener.subscribe(function(e){var i=t.goals[e.status.goal_id.id];i&&(i.emit("status",e.status),i.emit("feedback",e.feedback))}),this.omitResult||this.resultListener.subscribe(function(e){var i=t.goals[e.status.goal_id.id];i&&(i.emit("status",e.status),i.emit("result",e.result))}),this.timeout&&setTimeout(function(){i||t.emit("timeout")},this.timeout)}var n=e("../core/Topic"),r=e("../core/Message"),o=e("eventemitter2").EventEmitter2;s.prototype.__proto__=o.prototype,s.prototype.cancel=function(){var e=new Date,t=new r({stamp:{secs:Math.floor(.001*e),nsecs:e%1e3*1e6}});this.cancelTopic.publish(t)},s.prototype.dispose=function(){this.goalTopic.unadvertise(),this.cancelTopic.unadvertise(),this.omitStatus||this.statusListener.unsubscribe(),this.omitFeedback||this.feedbackListener.unsubscribe(),this.omitResult||this.resultListener.unsubscribe()},t.exports=s},{"../core/Message":12,"../core/Topic":19,eventemitter2:2}],8:[function(e,t,i){function s(e){var t=this;e=e||{},this.ros=e.ros,this.serverName=e.serverName,this.actionName=e.actionName,this.timeout=e.timeout,this.omitFeedback=e.omitFeedback,this.omitStatus=e.omitStatus,this.omitResult=e.omitResult;var i=new n({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),s=new n({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),r=new n({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),o=new n({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"});i.subscribe(function(e){t.emit("goal",e)}),r.subscribe(function(e){e.status_list.forEach(function(e){t.emit("status",e)})}),s.subscribe(function(e){t.emit("status",e.status),t.emit("feedback",e.feedback)}),o.subscribe(function(e){t.emit("status",e.status),t.emit("result",e.result)})}var n=e("../core/Topic"),r=(e("../core/Message"),e("eventemitter2").EventEmitter2);s.prototype.__proto__=r.prototype,t.exports=s},{"../core/Message":12,"../core/Topic":19,eventemitter2:2}],9:[function(e,t,i){function s(e){var t=this;this.actionClient=e.actionClient,this.goalMessage=e.goalMessage,this.isFinished=!1;var i=new Date;this.goalID=e.goalID||"goal_"+Math.random()+"_"+i.getTime(),this.goalMessage=new n({goal_id:{stamp:{secs:Math.floor(.001*i),nsecs:i%1e3*1e6},id:this.goalID},goal:this.goalMessage}),this.on("status",function(e){t.status=e}),this.on("result",function(e){t.isFinished=!0,t.result=e}),this.on("feedback",function(e){t.feedback=e}),this.actionClient.goals[this.goalID]=this}var n=e("../core/Message"),r=e("eventemitter2").EventEmitter2;s.prototype.__proto__=r.prototype,s.prototype.send=function(e){var t=this;t.actionClient.goalTopic.publish(t.goalMessage),e&&setTimeout(function(){t.isFinished||t.emit("timeout")},e)},s.prototype.cancel=function(){var e=new Date,t=new n({stamp:{secs:Math.floor(.001*e),nsecs:e%1e3*1e6},id:this.goalID});this.actionClient.cancelTopic.publish(t)},t.exports=s},{"../core/Message":12,eventemitter2:2}],10:[function(e,t,i){function s(e){var t=this;e=e||{},this.ros=e.ros,this.serverName=e.serverName,this.actionName=e.actionName,this.feedbackPublisher=new n({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.feedbackPublisher.advertise();var i=new n({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});i.advertise(),this.resultPublisher=new n({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.resultPublisher.advertise();var s=new n({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),o=new n({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"});this.statusMessage=new r({header:{stamp:{secs:0,nsecs:100},frame_id:""},status_list:[]}),this.currentGoal=null,this.nextGoal=null,s.subscribe(function(e){t.currentGoal?(t.nextGoal=e,t.emit("cancel")):(t.statusMessage.status_list=[{goal_id:e.goal_id,status:1}],t.currentGoal=e,t.emit("goal",e.goal))});var a=function(e,t){return!(e.secs>t.secs)&&(e.secs<t.secs||e.nsecs<t.nsecs)};o.subscribe(function(e){0===e.stamp.secs&&0===e.stamp.secs&&""===e.id?(t.nextGoal=null,t.currentGoal&&t.emit("cancel")):(t.currentGoal&&e.id===t.currentGoal.goal_id.id?t.emit("cancel"):t.nextGoal&&e.id===t.nextGoal.goal_id.id&&(t.nextGoal=null),t.nextGoal&&a(t.nextGoal.goal_id.stamp,e.stamp)&&(t.nextGoal=null),t.currentGoal&&a(t.currentGoal.goal_id.stamp,e.stamp)&&t.emit("cancel"))}),setInterval(function(){var e=new Date,s=Math.floor(e.getTime()/1e3),n=Math.round(1e9*(e.getTime()/1e3-s));t.statusMessage.header.stamp.secs=s,t.statusMessage.header.stamp.nsecs=n,i.publish(t.statusMessage)},500).unref()}var n=e("../core/Topic"),r=e("../core/Message"),o=e("eventemitter2").EventEmitter2;s.prototype.__proto__=o.prototype,s.prototype.setSucceeded=function(e){var t=new r({status:{goal_id:this.currentGoal.goal_id,status:3},result:e});this.resultPublisher.publish(t),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},s.prototype.sendFeedback=function(e){var t=new r({status:{goal_id:this.currentGoal.goal_id,status:1},feedback:e});this.feedbackPublisher.publish(t)},s.prototype.setAborted=function(e){var t=new r({status:{goal_id:this.currentGoal.goal_id,status:4},result:e});this.resultPublisher.publish(t),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},s.prototype.setPreempted=function(){this.statusMessage.status_list=[];var e=new r({status:{goal_id:this.currentGoal.goal_id,status:2}});this.resultPublisher.publish(e),this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},t.exports=s},{"../core/Message":12,"../core/Topic":19,eventemitter2:2}],11:[function(e,t,i){var s=e("../core/Ros");e("../mixin")(s,["ActionClient","SimpleActionServer"],t.exports={ActionClient:e("./ActionClient"),ActionListener:e("./ActionListener"),Goal:e("./Goal"),SimpleActionServer:e("./SimpleActionServer")})},{"../core/Ros":14,"../mixin":26,"./ActionClient":7,"./ActionListener":8,"./Goal":9,"./SimpleActionServer":10}],12:[function(e,t,i){var s=e("object-assign");t.exports=function(e){s(this,e)}},{"object-assign":3}],13:[function(e,t,i){function s(e){e=e||{},this.ros=e.ros,this.name=e.name}var n=e("./Service"),r=e("./ServiceRequest");s.prototype.get=function(e){var t=new n({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),i=new r({name:this.name});t.callService(i,function(t){var i=JSON.parse(t.value);e(i)})},s.prototype.set=function(e,t){var i=new n({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),s=new r({name:this.name,value:JSON.stringify(e)});i.callService(s,t)},s.prototype.delete=function(e){var t=new n({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),i=new r({name:this.name});t.callService(i,e)},t.exports=s},{"./Service":15,"./ServiceRequest":16}],14:[function(e,t,i){function s(e){e=e||{},this.socket=null,this.idCounter=0,this.isConnected=!1,this.transportLibrary=e.transportLibrary||"websocket",this.transportOptions=e.transportOptions||{},void 0===e.groovyCompatibility?this.groovyCompatibility=!0:this.groovyCompatibility=e.groovyCompatibility,this.setMaxListeners(0),e.url&&this.connect(e.url)}var n=e("ws"),r=e("../util/workerSocket"),o=e("./SocketAdapter.js"),a=e("./Service"),c=e("./ServiceRequest"),l=e("object-assign"),h=e("eventemitter2").EventEmitter2;s.prototype.__proto__=h.prototype,s.prototype.connect=function(e){if("socket.io"===this.transportLibrary)this.socket=l(io(e,{"force new connection":!0}),o(this)),this.socket.on("connect",this.socket.onopen),this.socket.on("data",this.socket.onmessage),this.socket.on("close",this.socket.onclose),this.socket.on("error",this.socket.onerror);else if("RTCPeerConnection"===this.transportLibrary.constructor.name)this.socket=l(this.transportLibrary.createDataChannel(e,this.transportOptions),o(this));else if("websocket"===this.transportLibrary){if(!this.socket||this.socket.readyState===n.CLOSED){var t=new n(e);t.binaryType="arraybuffer",this.socket=l(t,o(this))}}else{if("workersocket"!==this.transportLibrary)throw"Unknown transportLibrary: "+this.transportLibrary.toString();this.socket=l(new r(e),o(this))}},s.prototype.close=function(){this.socket&&this.socket.close()},s.prototype.authenticate=function(e,t,i,s,n,r,o){var a={op:"auth",mac:e,client:t,dest:i,rand:s,t:n,level:r,end:o};this.callOnConnection(a)},s.prototype.callOnConnection=function(e){var t=this,i=JSON.stringify(e),s=null;s="socket.io"===this.transportLibrary?function(e){t.socket.emit("operation",e)}:function(e){t.socket.send(e)},this.isConnected?s(i):t.once("connection",function(){s(i)})},s.prototype.setStatusLevel=function(e,t){var i={op:"set_level",level:e,id:t};this.callOnConnection(i)},s.prototype.getActionServers=function(e,t){var i=new a({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),s=new c({});"function"==typeof t?i.callService(s,function(t){e(t.action_servers)},function(e){t(e)}):i.callService(s,function(t){e(t.action_servers)})},s.prototype.getTopics=function(e,t){var i=new a({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),s=new c;"function"==typeof t?i.callService(s,function(t){e(t)},function(e){t(e)}):i.callService(s,function(t){e(t)})},s.prototype.getTopicsForType=function(e,t,i){var s=new a({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),n=new c({type:e});"function"==typeof i?s.callService(n,function(e){t(e.topics)},function(e){i(e)}):s.callService(n,function(e){t(e.topics)})},s.prototype.getServices=function(e,t){var i=new a({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),s=new c;"function"==typeof t?i.callService(s,function(t){e(t.services)},function(e){t(e)}):i.callService(s,function(t){e(t.services)})},s.prototype.getServicesForType=function(e,t,i){var s=new a({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),n=new c({type:e});"function"==typeof i?s.callService(n,function(e){t(e.services)},function(e){i(e)}):s.callService(n,function(e){t(e.services)})},s.prototype.getServiceRequestDetails=function(e,t,i){var s=new a({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),n=new c({type:e});"function"==typeof i?s.callService(n,function(e){t(e)},function(e){i(e)}):s.callService(n,function(e){t(e)})},s.prototype.getServiceResponseDetails=function(e,t,i){var s=new a({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),n=new c({type:e});"function"==typeof i?s.callService(n,function(e){t(e)},function(e){i(e)}):s.callService(n,function(e){t(e)})},s.prototype.getNodes=function(e,t){var i=new a({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),s=new c;"function"==typeof t?i.callService(s,function(t){e(t.nodes)},function(e){t(e)}):i.callService(s,function(t){e(t.nodes)})},s.prototype.getNodeDetails=function(e,t,i){var s=new a({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),n=new c({node:e});"function"==typeof i?s.callService(n,function(e){t(e.subscribing,e.publishing,e.services)},function(e){i(e)}):s.callService(n,function(e){t(e)})},s.prototype.getParams=function(e,t){var i=new a({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),s=new c;"function"==typeof t?i.callService(s,function(t){e(t.names)},function(e){t(e)}):i.callService(s,function(t){e(t.names)})},s.prototype.getTopicType=function(e,t,i){var s=new a({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),n=new c({topic:e});"function"==typeof i?s.callService(n,function(e){t(e.type)},function(e){i(e)}):s.callService(n,function(e){t(e.type)})},s.prototype.getServiceType=function(e,t,i){var s=new a({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),n=new c({service:e});"function"==typeof i?s.callService(n,function(e){t(e.type)},function(e){i(e)}):s.callService(n,function(e){t(e.type)})},s.prototype.getMessageDetails=function(e,t,i){var s=new a({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),n=new c({type:e});"function"==typeof i?s.callService(n,function(e){t(e.typedefs)},function(e){i(e)}):s.callService(n,function(e){t(e.typedefs)})},s.prototype.decodeTypeDefs=function(e){var t=this,i=function(e,s){for(var n={},r=0;r<e.fieldnames.length;r++){var o=e.fieldarraylen[r],a=e.fieldnames[r],c=e.fieldtypes[r];if(-1===c.indexOf("/"))n[a]=-1===o?c:[c];else{for(var l=!1,h=0;h<s.length;h++)if(s[h].type.toString()===c.toString()){l=s[h];break}if(l){var u=i(l,s);-1===o||(n[a]=[u])}else t.emit("error","Cannot find "+c+" in decodeTypeDefs")}}return n};return i(e[0],e)},t.exports=s},{"../util/workerSocket":47,"./Service":15,"./ServiceRequest":16,"./SocketAdapter.js":18,eventemitter2:2,"object-assign":3,ws:42}],15:[function(e,t,i){function s(e){e=e||{},this.ros=e.ros,this.name=e.name,this.serviceType=e.serviceType,this.isAdvertised=!1,this._serviceCallback=null}var n=e("./ServiceResponse"),r=(e("./ServiceRequest"),e("eventemitter2").EventEmitter2);s.prototype.__proto__=r.prototype,s.prototype.callService=function(e,t,i){if(!this.isAdvertised){var s="call_service:"+this.name+":"+ ++this.ros.idCounter;(t||i)&&this.ros.once(s,function(e){void 0!==e.result&&!1===e.result?"function"==typeof i&&i(e.values):"function"==typeof t&&t(new n(e.values))});var r={op:"call_service",id:s,service:this.name,type:this.serviceType,args:e};this.ros.callOnConnection(r)}},s.prototype.advertise=function(e){this.isAdvertised||"function"!=typeof e||(this._serviceCallback=e,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},s.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},s.prototype._serviceResponse=function(e){var t={},i=this._serviceCallback(e.args,t),s={op:"service_response",service:this.name,values:new n(t),result:i};e.id&&(s.id=e.id),this.ros.callOnConnection(s)},t.exports=s},{"./ServiceRequest":16,"./ServiceResponse":17,eventemitter2:2}],16:[function(e,t,i){var s=e("object-assign");t.exports=function(e){s(this,e)}},{"object-assign":3}],17:[function(e,t,i){var s=e("object-assign");t.exports=function(e){s(this,e)}},{"object-assign":3}],18:[function(e,t,i){"use strict";var s=e("../util/decompressPng"),n=e("cbor-js"),r=e("../util/cborTypedArrayTags"),o=null;"undefined"!=typeof bson&&(o=bson().BSON),t.exports=function(e){function t(t){"publish"===t.op?e.emit(t.topic,t.msg):"service_response"===t.op?e.emit(t.id,t):"call_service"===t.op?e.emit(t.service,t):"status"===t.op&&(t.id?e.emit("status:"+t.id,t):e.emit("status",t))}function i(e,t){"png"===e.op?s(e.data,t):t(e)}function a(e,t){if(!o)throw"Cannot process BSON encoded message without BSON header.";var i=new FileReader;i.onload=function(){var e=new Uint8Array(this.result),i=o.deserialize(e);t(i)},i.readAsArrayBuffer(e)}return{onopen:function(t){e.isConnected=!0,e.emit("connection",t)},onclose:function(t){e.isConnected=!1,e.emit("close",t)},onerror:function(t){e.emit("error",t)},onmessage:function(e){"undefined"!=typeof Blob&&e.data instanceof Blob?a(e.data,function(e){i(e,t)}):e.data instanceof ArrayBuffer?t(n.decode(e.data,r)):i(JSON.parse("string"==typeof e?e:e.data),t)}}}},{"../util/cborTypedArrayTags":41,"../util/decompressPng":44,"cbor-js":1}],19:[function(e,t,i){function s(e){e=e||{},this.ros=e.ros,this.name=e.name,this.messageType=e.messageType,this.isAdvertised=!1,this.compression=e.compression||"none",this.throttle_rate=e.throttle_rate||0,this.latch=e.latch||!1,this.queue_size=e.queue_size||100,this.queue_length=e.queue_length||0,this.reconnect_on_close=void 0===e.reconnect_on_close||e.reconnect_on_close;var t=this;this.ros.on("connection",function(){t.wasRosConnected=!0}),this.wasRosConnected=this.ros.isConnected,this.ros.on("close",function(){t.wasRosConnected&&(t.isAdvertised&&(t.advertiseId="advertise:"+t.name+":"+ ++t.ros.idCounter,t.ros.callOnConnection({op:"advertise",id:t.advertiseId,type:t.messageType,topic:t.name,latch:t.latch,queue_size:t.queue_size}),t.lastPublishedMessage&&(t.ros.idCounter++,t.ros.callOnConnection({op:"publish",id:"publish:"+t.name+":"+t.ros.idCounter,topic:t.name,msg:t.lastPublishedMessage,latch:t.latch}))),t.subscribeId&&(t.subscribeId="subscribe:"+t.name+":"+ ++t.ros.idCounter,t.ros.callOnConnection({op:"subscribe",id:t.subscribeId,type:t.messageType,topic:t.name,compression:t.compression,throttle_rate:t.throttle_rate,queue_length:t.queue_length}))),t.wasRosConnected=!1}),this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0),this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(e){t.ros.callOnConnection(e),t.waitForReconnect=!1,t.reconnectFunc=function(){t.waitForReconnect||(t.waitForReconnect=!0,t.ros.callOnConnection(e),t.ros.once("connection",function(){t.waitForReconnect=!1}))},t.ros.on("close",t.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(e){t.emit("message",new r(e))}}var n=e("eventemitter2").EventEmitter2,r=e("./Message");s.prototype.__proto__=n.prototype,s.prototype.subscribe=function(e){"function"==typeof e&&this.on("message",e),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},s.prototype.unsubscribe=function(e){e&&(this.off("message",e),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},s.prototype.advertise=function(){if(!this.isAdvertised&&(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,!this.reconnect_on_close)){var e=this;this.ros.on("close",function(){e.isAdvertised=!1})}},s.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},s.prototype.publish=function(e){this.isAdvertised||this.advertise(),this.ros.idCounter++;var t={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:e,latch:this.latch};this.ros.callOnConnection(t),this.latch&&(this.lastPublishedMessage=e)},t.exports=s},{"./Message":12,eventemitter2:2}],20:[function(e,t,i){var s=e("../mixin"),n=t.exports={Ros:e("./Ros"),Topic:e("./Topic"),Message:e("./Message"),Param:e("./Param"),Service:e("./Service"),ServiceRequest:e("./ServiceRequest"),ServiceResponse:e("./ServiceResponse")};s(n.Ros,["Param","Service","Topic"],n)},{"../mixin":26,"./Message":12,"./Param":13,"./Ros":14,"./Service":15,"./ServiceRequest":16,"./ServiceResponse":17,"./Topic":19}],21:[function(e,t,i){function s(e){e=e||{},this.position=new n(e.position),this.orientation=new r(e.orientation)}var n=e("./Vector3"),r=e("./Quaternion");s.prototype.applyTransform=function(e){this.position.multiplyQuaternion(e.rotation),this.position.add(e.translation);var t=e.rotation.clone();t.multiply(this.orientation),this.orientation=t},s.prototype.clone=function(){return new s(this)},s.prototype.multiply=function(e){var t=e.clone();return t.applyTransform({rotation:this.orientation,translation:this.position}),t},s.prototype.getInverse=function(){var e=this.clone();return e.orientation.invert(),e.position.multiplyQuaternion(e.orientation),e.position.x*=-1,e.position.y*=-1,e.position.z*=-1,e},t.exports=s},{"./Quaternion":22,"./Vector3":24}],22:[function(e,t,i){function s(e){e=e||{},this.x=e.x||0,this.y=e.y||0,this.z=e.z||0,this.w="number"==typeof e.w?e.w:1}s.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},s.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},s.prototype.normalize=function(){var e=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===e?(this.x=0,this.y=0,this.z=0,this.w=1):(e=1/e,this.x=this.x*e,this.y=this.y*e,this.z=this.z*e,this.w=this.w*e)},s.prototype.invert=function(){this.conjugate(),this.normalize()},s.prototype.multiply=function(e){var t=this.x*e.w+this.y*e.z-this.z*e.y+this.w*e.x,i=-this.x*e.z+this.y*e.w+this.z*e.x+this.w*e.y,s=this.x*e.y-this.y*e.x+this.z*e.w+this.w*e.z,n=-this.x*e.x-this.y*e.y-this.z*e.z+this.w*e.w;this.x=t,this.y=i,this.z=s,this.w=n},s.prototype.clone=function(){return new s(this)},t.exports=s},{}],23:[function(e,t,i){function s(e){e=e||{},this.translation=new n(e.translation),this.rotation=new r(e.rotation)}var n=e("./Vector3"),r=e("./Quaternion");s.prototype.clone=function(){return new s(this)},t.exports=s},{"./Quaternion":22,"./Vector3":24}],24:[function(e,t,i){function s(e){e=e||{},this.x=e.x||0,this.y=e.y||0,this.z=e.z||0}s.prototype.add=function(e){this.x+=e.x,this.y+=e.y,this.z+=e.z},s.prototype.subtract=function(e){this.x-=e.x,this.y-=e.y,this.z-=e.z},s.prototype.multiplyQuaternion=function(e){var t=e.w*this.x+e.y*this.z-e.z*this.y,i=e.w*this.y+e.z*this.x-e.x*this.z,s=e.w*this.z+e.x*this.y-e.y*this.x,n=-e.x*this.x-e.y*this.y-e.z*this.z;this.x=t*e.w+n*-e.x+i*-e.z-s*-e.y,this.y=i*e.w+n*-e.y+s*-e.x-t*-e.z,this.z=s*e.w+n*-e.z+t*-e.y-i*-e.x},s.prototype.clone=function(){return new s(this)},t.exports=s},{}],25:[function(e,t,i){t.exports={Pose:e("./Pose"),Quaternion:e("./Quaternion"),Transform:e("./Transform"),Vector3:e("./Vector3")}},{"./Pose":21,"./Quaternion":22,"./Transform":23,"./Vector3":24}],26:[function(e,t,i){t.exports=function(e,t,i){t.forEach(function(t){var s=i[t];e.prototype[t]=function(e){return e.ros=this,new s(e)}})}},{}],27:[function(e,t,i){function s(e){e=e||{},this.ros=e.ros,this.fixedFrame=e.fixedFrame||"/base_link",this.angularThres=e.angularThres||2,this.transThres=e.transThres||.01,this.rate=e.rate||10,this.updateDelay=e.updateDelay||50;var t=e.topicTimeout||2,i=Math.floor(t),s=Math.floor(1e9*(t-i));this.topicTimeout={secs:i,nsecs:s},this.serverName=e.serverName||"/tf2_web_republisher",this.repubServiceName=e.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this.actionClient=this.ros.ActionClient({serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=this.ros.Service({name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}e("../actionlib/ActionClient");var n=e("../actionlib/Goal"),r=(e("../core/Service.js"),e("../core/ServiceRequest.js")),o=e("../math/Transform");s.prototype.processTFArray=function(e){e.transforms.forEach(function(e){var t=e.child_frame_id;"/"===t[0]&&(t=t.substring(1));var i=this.frameInfos[t];i&&(i.transform=new 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s=e("./UrdfTypes");t.exports=function(e){this.type=s.URDF_CYLINDER,this.length=parseFloat(e.xml.getAttribute("length")),this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":38}],32:[function(e,t,i){var s=e("../math/Pose"),n=e("../math/Vector3"),r=e("../math/Quaternion");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.type=e.xml.getAttribute("type");var t=e.xml.getElementsByTagName("parent");t.length>0&&(this.parent=t[0].getAttribute("link"));var i=e.xml.getElementsByTagName("child");i.length>0&&(this.child=i[0].getAttribute("link"));var o=e.xml.getElementsByTagName("limit");o.length>0&&(this.minval=parseFloat(o[0].getAttribute("lower")),this.maxval=parseFloat(o[0].getAttribute("upper")));var a=e.xml.getElementsByTagName("origin");if(0===a.length)this.origin=new s;else{var c=a[0].getAttribute("xyz"),l=new n;c&&(c=c.split(" "),l=new n({x:parseFloat(c[0]),y:parseFloat(c[1]),z:parseFloat(c[2])}));var h=a[0].getAttribute("rpy"),u=new r;if(h){h=h.split(" 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