Mirte Sensor Library

About

The Mirte Sensor Library is JavaScript library for getting sensor data of a mobile phone and sending this data to a ROS instance. This is done through a webpage on the mobile phone.

It currently offers support for publishing data from the following sensors:

• Inertial Measurement Unit(IMU)
• GPS
• Compass (to magnetic north or to a specific coordinate)
• Camera
• Ambient light sensor

Additionally, it allows for publishing the state of certain HTML UI elements to ROS. These elements include but are not limited to:

• Text input box
• Slider
• Checkbox

Lastly, the library allows a ROS instance to send data to a mobile phone by having a webpage subscribe to a ROS topic. This currently supports the following:

• Flashlight: The flashlight of a phone can be turned on or off.
• Image: Images sent by a ROS instance can be displayed.
• Text: Text sent by a ROS instance can be displayed.

A detailed documentation of the library can be found through /doc/index.html

Dependencies

This library depends on roslibjs

To allow the library to function correctly, these dependencies must already be loaded before importing the Mirte Sensor Library.

How To Use

To use Mirte Sensor Library, it must be imbedded as a script in a webpage. Please make sure the necessary dependencies are already imported, before adding the Mirte Sensor Library. This can be done as follows:

<script src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
<script src="/path/to/RosSensorLib.min.js"></script>

A pre-built file of the library can be found in the /build folder of this repository. Alternatively, the files can be built from scratch using the commands below. For more information regarding the tools of this project, see Running the tools.

Once Mirte Sensor Library has been imported, it functionality is exposed through the global SENSORLIB object. From this object, it is possible to create a number of different SensorPublishers, to share the data of a specific sensor to ROS. These SensorPublishers require a ROS instance and a topic name to publish to. The ROS handle can be created through the roslibjs library, by connecting to a running ROS instance. An example piece of code can be seen below, where a ButtonPublisher is setup to publish the state of an HTML button to a local ROS instance.

var ros = new ROSLIB.Ros();
ros.connect('ws://localhost:9090');

var publisher = new SENSORLIB.ButtonPublisher(ros, "/topic", document.getElementById("button"));
publisher.start();

The details for how to create and use the different SensorPublishers can be found in the documentation.

A number of example for how to do this can be found in the /examples folder.

Please note that the SensorPublishers require a secure http connection (https) to publish the sensor data.

Documentation

Currently, the documentation of Mirte Sensor Library is only available to generating it youself from the source code. See running the tools for more details.

Setup

Note: Requires npm to be installed on your device.

To setup the project, run the following commands:

npm install -g grunt-cli  
npm install .

Running the tools

To build

grunt build

This will create a RosSensorLib.js and a RosSensorLib.min.js in the /build folder

To run tests

To run all tests:

grunt test  

or

npm test 

To run all tests and track test coverage: `

npm run coverage 

A report of the test coverage will be generated in build/report/nyc

To generate documentation

run:

grunt doc

The documentation will be generated in the /doc folder of the project.

Authors and acknowledgment

Picture	Name	Email
	Mike Segers	M.Segers-1@student.tudelft.nl
	Tijs Lenssen	T.Lenssen@student.tudelft.nl
	Anish Jaggoe	A.S.H.Jaggoe@student.tudelft.nl
	Pieter Carton	P.A.Carton@student.tudelft.nl
	Gijs van de Linde	G.vandeLinde@student.tudelft.nl