Add getPublishers functionality (#1)

* Add getPublishers function

* Re-build

build/roslib.js

@@ -3340,15 +3340,15 @@ Param.prototype.get = function(callback) {
   var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/get_param',
-    serviceType : 'rosapi/GetParam'
+    serviceType : 'rosapi_msgs/srv/GetParam'
   });
 
   var request = new ServiceRequest({
     name : this.name
   });
 
   paramClient.callService(request, function(result) {
-    var value = JSON.stringify(result.value);
+    var value = JSON.parse(result.value);
     callback(value);
   });
 };
@@ -3363,7 +3363,7 @@ Param.prototype.set = function(value, callback) {
   var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/set_param',
-    serviceType : 'rosapi/SetParam'
+    serviceType : 'rosapi_msgs/srv/SetParam'
   });
 
   var request = new ServiceRequest({
@@ -3383,7 +3383,7 @@ Param.prototype.delete = function(callback) {
   var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/delete_param',
-    serviceType : 'rosapi/DeleteParam'
+    serviceType : 'rosapi_msgs/srv/DeleteParam'
   });
 
   var request = new ServiceRequest({
@@ -3585,7 +3585,7 @@ Ros.prototype.getActionServers = function(callback, failedCallback) {
   var getActionServers = new Service({
     ros : this,
     name : '/rosapi/action_servers',
-    serviceType : 'rosapi/GetActionServers'
+    serviceType : 'rosapi_msgs/srv/GetActionServers'
   });
 
   var request = new ServiceRequest({});
@@ -3619,7 +3619,7 @@ Ros.prototype.getTopics = function(callback, failedCallback) {
   var topicsClient = new Service({
     ros : this,
     name : '/rosapi/topics',
-    serviceType : 'rosapi/Topics'
+    serviceType : 'rosapi_msgs/srv/Topics'
   });
 
   var request = new ServiceRequest();
@@ -3652,7 +3652,7 @@ Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
   var topicsForTypeClient = new Service({
     ros : this,
     name : '/rosapi/topics_for_type',
-    serviceType : 'rosapi/TopicsForType'
+    serviceType : 'rosapi_msgs/srv/TopicsForType'
   });
 
   var request = new ServiceRequest({
@@ -3674,6 +3674,41 @@ Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
   }
 };
 
+/**
+ * Retrieve a list of active publishers for a topic in ROS.
+ *
+ * @param {string} topic - The topic to find publishers for.
+ * @param {function} callback - Function with the following params:
+ * @param {string[]} callback.publishers - Array of publisher names.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
+ */
+Ros.prototype.getPublishers = function(topic, callback, failedCallback) {
+  var publishersClient = new Service({
+    ros : this,
+    name : '/rosapi/publishers',
+    serviceType : 'rosapi_msgs/srv/Publishers'
+  });
+
+  var request = new ServiceRequest({
+    topic: topic
+  });
+  if (typeof failedCallback === 'function'){
+    publishersClient.callService(request,
+      function(result) {
+        callback(result.publishers);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  } else {
+    publishersClient.callService(request, function(result) {
+      callback(result.publishers);
+    });
+  }
+}
+
 /**
  * Retrieve a list of active service names in ROS.
  *
@@ -3686,7 +3721,7 @@ Ros.prototype.getServices = function(callback, failedCallback) {
   var servicesClient = new Service({
     ros : this,
     name : '/rosapi/services',
-    serviceType : 'rosapi/Services'
+    serviceType : 'rosapi_msgs/srv/Services'
   });
 
   var request = new ServiceRequest();
@@ -3719,7 +3754,7 @@ Ros.prototype.getServicesForType = function(serviceType, callback, failedCallbac
   var servicesForTypeClient = new Service({
     ros : this,
     name : '/rosapi/services_for_type',
-    serviceType : 'rosapi/ServicesForType'
+    serviceType : 'rosapi_msgs/srv/ServicesForType'
   });
 
   var request = new ServiceRequest({
@@ -3755,7 +3790,7 @@ Ros.prototype.getActionGoalDetails = function(type, callback, failedCallback) {
   var actionTypeClient = new Service({
     ros : this,
     name : '/rosapi/action_goal_details',
-    serviceType : 'rosapi/ActionGoalDetails'
+    serviceType : 'rosapi_msgs/srv/ActionGoalDetails'
   });
   var request = new ServiceRequest({
     type: type
@@ -3791,7 +3826,7 @@ Ros.prototype.getActionGoalDetails = function(type, callback, failedCallback) {
   var actionTypeClient = new Service({
     ros : this,
     name : '/rosapi/action_feedback_details',
-    serviceType : 'rosapi/ActionFeedbackDetails'
+    serviceType : 'rosapi_msgs/srv/ActionFeedbackDetails'
   });
   var request = new ServiceRequest({
     type: type
@@ -3827,7 +3862,7 @@ Ros.prototype.getActionGoalDetails = function(type, callback, failedCallback) {
   var actionTypeClient = new Service({
     ros : this,
     name : '/rosapi/action_result_details',
-    serviceType : 'rosapi/ActionResultDetails'
+    serviceType : 'rosapi_msgs/srv/ActionResultDetails'
   });
   var request = new ServiceRequest({
     type: type
@@ -3863,7 +3898,7 @@ Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback
   var serviceTypeClient = new Service({
     ros : this,
     name : '/rosapi/service_request_details',
-    serviceType : 'rosapi/ServiceRequestDetails'
+    serviceType : 'rosapi_msgs/srv/ServiceRequestDetails'
   });
   var request = new ServiceRequest({
     type: type
@@ -3899,7 +3934,7 @@ Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallbac
   var serviceTypeClient = new Service({
     ros : this,
     name : '/rosapi/service_response_details',
-    serviceType : 'rosapi/ServiceResponseDetails'
+    serviceType : 'rosapi_msgs/srv/ServiceResponseDetails'
   });
   var request = new ServiceRequest({
     type: type
@@ -3933,7 +3968,7 @@ Ros.prototype.getNodes = function(callback, failedCallback) {
   var nodesClient = new Service({
     ros : this,
     name : '/rosapi/nodes',
-    serviceType : 'rosapi/Nodes'
+    serviceType : 'rosapi_msgs/srv/Nodes'
   });
 
   var request = new ServiceRequest();
@@ -3985,7 +4020,7 @@ Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {
   var nodesClient = new Service({
     ros : this,
     name : '/rosapi/node_details',
-    serviceType : 'rosapi/NodeDetails'
+    serviceType : 'rosapi_msgs/srv/NodeDetails'
   });
 
   var request = new ServiceRequest({
@@ -4019,7 +4054,7 @@ Ros.prototype.getParams = function(callback, failedCallback) {
   var paramsClient = new Service({
     ros : this,
     name : '/rosapi/get_param_names',
-    serviceType : 'rosapi/GetParamNames'
+    serviceType : 'rosapi_msgs/srv/GetParamNames'
   });
   var request = new ServiceRequest();
   if (typeof failedCallback === 'function'){
@@ -4051,7 +4086,7 @@ Ros.prototype.getParams = function(callback, failedCallback) {
   var actionTypeClient = new Service({
     ros : this,
     name : '/rosapi/action_type',
-    serviceType : 'rosapi/ActionType'
+    serviceType : 'rosapi_msgs/srv/ActionType'
   });
   var request = new ServiceRequest({
     action: action
@@ -4086,7 +4121,7 @@ Ros.prototype.getTopicType = function(topic, callback, failedCallback) {
   var topicTypeClient = new Service({
     ros : this,
     name : '/rosapi/topic_type',
-    serviceType : 'rosapi/TopicType'
+    serviceType : 'rosapi_msgs/srv/TopicType'
   });
   var request = new ServiceRequest({
     topic: topic
@@ -4121,7 +4156,7 @@ Ros.prototype.getServiceType = function(service, callback, failedCallback) {
   var serviceTypeClient = new Service({
     ros : this,
     name : '/rosapi/service_type',
-    serviceType : 'rosapi/ServiceType'
+    serviceType : 'rosapi_msgs/srv/ServiceType'
   });
   var request = new ServiceRequest({
     service: service
@@ -4156,7 +4191,7 @@ Ros.prototype.getMessageDetails = function(message, callback, failedCallback) {
   var messageDetailClient = new Service({
     ros : this,
     name : '/rosapi/message_details',
-    serviceType : 'rosapi/MessageDetails'
+    serviceType : 'rosapi_msgs/srv/MessageDetails'
   });
   var request = new ServiceRequest({
     type: message
@@ -4244,7 +4279,7 @@ Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) {
   var topicsAndRawTypesClient = new Service({
     ros : this,
     name : '/rosapi/topics_and_raw_types',
-    serviceType : 'rosapi/TopicsAndRawTypes'
+    serviceType : 'rosapi_msgs/srv/TopicsAndRawTypes'
   });
 
   var request = new ServiceRequest();
@@ -5251,6 +5286,7 @@ mixin(Ros, ['Actions'], actionhandle);
  */
 
 var ActionClient = require('../actionlib/ActionClient');
+var ActionHandle = require('../ros2action/Actions.js')
 var Goal = require('../actionlib/Goal');
 
 var Service = require('../core/Service.js');
@@ -5301,19 +5337,19 @@ function TFClient(options) {
   this._isDisposed = false;
 
   // Create an Action Client
-  this.actionClient = new ActionClient({
+  this.actionClient = new ActionHandle({
     ros : options.ros,
-    serverName : this.serverName,
-    actionName : 'tf2_web_republisher/TFSubscriptionAction',
-    omitStatus : true,
-    omitResult : true
+    name : this.serverName,
+    actionType : 'tf2_web_republisher/action/TFSubscription',
+    // omitStatus : true,
+    // omitResult : true
   });
 
   // Create a Service Client
   this.serviceClient = new Service({
     ros: options.ros,
     name: this.repubServiceName,
-    serviceType: 'tf2_web_republisher/RepublishTFs'
+    serviceType: 'tf2_web_republisher/srv/RepublishTFs'
   });
 }
 
@@ -5406,7 +5442,7 @@ TFClient.prototype.processResponse = function(response) {
   this.currentTopic = new Topic({
     ros: this.ros,
     name: response.topic_name,
-    messageType: 'tf2_web_republisher/TFArray'
+    messageType: 'tf2_web_republisher/msg/TFArray'
   });
   this._subscribeCB = this.processTFArray.bind(this);
   this.currentTopic.subscribe(this._subscribeCB);
@@ -5478,7 +5514,7 @@ TFClient.prototype.dispose = function() {
 
 module.exports = TFClient;
 
-},{"../actionlib/ActionClient":10,"../actionlib/Goal":12,"../core/Service.js":18,"../core/ServiceRequest.js":19,"../core/Topic.js":22,"../math/Transform":26}],36:[function(require,module,exports){
+},{"../actionlib/ActionClient":10,"../actionlib/Goal":12,"../core/Service.js":18,"../core/ServiceRequest.js":19,"../core/Topic.js":22,"../math/Transform":26,"../ros2action/Actions.js":33}],36:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');